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Advanced AUV Navigation and Operation towards Safer and Efficient Near-Bottom Survey

机译：先进的AUV导航和操作走向更安全，高效的近底调查

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摘要

In this paper, two our new approaches for AUV (autonomous underwater vehicle) navigation and their results of field applications are presented. The first approach is for the simultaneous deployment and operation of multiple AUVs. We present the basic concept and outline of our approach related to the navigation, the launch and recovery, the underwater acoustic communication and positioning, and the emergency responses required for operating multiple AUVs with safety and efficiency. Results of hydrothermal field survey mission conducted by deploying multiple vehicles are also presented. The second approach is the navigation of depth-based optimal waypoint following that achieves a safe near-bottom dive of a cruising AUV over a steep and rugged terrain. An optimization algorithm based on gradient descent search (GDS) derives optimal waypoint set accomplishing minimum-altitude dive of a vehicle over a given terrain while satisfying the avoidance of bottom collision.
机译：在本文中，提出了两种用于AUV（自主水下车辆）导航的新方法及其现场应用的结果。第一种方法是用于多个AUV的同时部署和操作。我们介绍了我们与导航，发射和恢复，水下声学通信和定位相关的方法的基本概念和概要，以及通过安全性和效率操作多个AUV所需的紧急响应。还提出了通过部署多辆车进行的水热场调查任务的结果。第二种方法是基于深度的最佳航点的导航，这是在陡峭和坚固的地形上实现巡航AUV的安全近底潜水。一种基于梯度血压搜索（GDS）的优化算法导出最佳航点设置在给定地形上实现车辆的最小高度潜水，同时满足避免底部碰撞。

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