Evaluation of terrain collision risks for flight style autonomous underwater vehicles

Schillai, Sophia M.; Turnock, Stephen R.; Rogers, Eric; Phillips, Alexander B.. 2016 Evaluation of terrain collision risks for flight style autonomous underwater vehicles. In: 2016 IEEE/OES Autonomous Underwater Vehicles (AUV). Richardson, TX, IEEE, 311-318.

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Official URL: http://dx.doi.org/10.1109/AUV.2016.7778689

Abstract/Summary

Photographic surveys of the seafloor with flight style autonomous underwater vehicles are a very effective tool for discovery and exploration. Due to the high terrain collision risk for the survey vehicle, they are employed with caution. The extent of this risk remains unquantified. For mission planning, researchers and vehicle operators have to rely on their experience. This paper introduces measures for vehicle risk and success and analyses how previously mapped terrains and artificially generated terrain maps can be used to categorize terrains. The developed measures are applied to a simulation of the Autosub6000 flight style AUV terrain following system. Based on quantitative parameters, changes to the obstacle avoidance system and survey mission plans can be better informed.

Item Type:	Publication - Book Section
Digital Object Identifier (DOI):	10.1109/AUV.2016.7778689
ISBN:	978-1-5090-2442-1
Additional Keywords:	auv, terrain following, risk, photographic survey, Autosub6000
Date made live:	26 Jan 2017 15:12 +0 (UTC)
URI:	https://nora.nerc.ac.uk/id/eprint/516055

Item Type:

Publication - Book Section

Digital Object Identifier (DOI):

10.1109/AUV.2016.7778689

ISBN:

978-1-5090-2442-1

Additional Keywords:

auv, terrain following, risk, photographic survey, Autosub6000

Date made live:

26 Jan 2017 15:12 +0 (UTC)

URI:

https://nora.nerc.ac.uk/id/eprint/516055