On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions

Yevgeni Gutnik; Aviad Avni; Tali Treibitz; Morel Groper

doi:10.3390/jmse10070974

On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions

Yevgeni Gutnik, Aviad Avni, Tali Treibitz, Morel Groper

University of Haifa

Research output: Contribution to journal › Article › peer-review

Abstract

This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV’s maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.

Original language	American English
Article number	974
Journal	Journal of Marine Science and Engineering
Volume	10
Issue number	7
DOIs	https://doi.org/10.3390/jmse10070974
State	Published - Jul 2022

Keywords

dynamics of underwater vehicles
hovering autonomous underwater vehicle (AUV)
hydrodynamic coefficients
path following
thruster allocation
underwater imaging
visual survey

All Science Journal Classification (ASJC) codes

Civil and Structural Engineering
Water Science and Technology
Ocean Engineering

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10.3390/jmse10070974

Cite this

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title = "On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions",

abstract = "This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV{\textquoteright}s maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.",

keywords = "dynamics of underwater vehicles, hovering autonomous underwater vehicle (AUV), hydrodynamic coefficients, path following, thruster allocation, underwater imaging, visual survey",

author = "Yevgeni Gutnik and Aviad Avni and Tali Treibitz and Morel Groper",

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AU - Groper, Morel

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AB - This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV’s maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.

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KW - hovering autonomous underwater vehicle (AUV)

KW - hydrodynamic coefficients

KW - path following

KW - thruster allocation

KW - underwater imaging

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On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions

Abstract

Keywords

All Science Journal Classification (ASJC) codes

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