Publication Detail

Bottom Following for Survey-class Autonomous Underwater Vehicles

Andrew A Bennet, John Leonard, James G Bellingham
1995
MITSG 95-08J
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Bottom-following, or maintaining a fixed altitude above an arbitrary surface, is important for underwater vehicles particularly those that survey large geographic areas. This feature is necessary for numerous tasks, including side-scan sonar mapping, photographic surveys, magnetic surveys and maneuvering in and around both manmade and natural structures. Current research at the MIT AUV Laboratory, starting with the simplest bottom-follower and moving through multiple iteration with successive improvemetns, is described. Along with results from various field tests with autonomous underwater vehicles, the paper presents findings from several simulations.

type: Technical reports

Parent Project

Project No.: 1994-RU-24
Title: Sensor Based Control for Feature Relative Navigation