Relative navigation of an autonomous underwater vehicle using a light-section profiling system

Autonomous underwater vehicles (AUV) are suitable for condition survey of artificial structures such as pillars and caissons in harbors. This paper describes a method to trace the structure's surface using a light-section profiling system. This profiling system determines the continuous shape of the target objects over a wide area by the light sectioning method. The vehicle navigates referencing the principal shape of the structure, tracing its surface while taking video images. This method also enables three-dimensional mapping of traced structures and the seabed. The method is implemented using testbed AUV "Tri-Dog 1" and verified by tank tests. The AUV navigates robustly against trivial objects such as small obstacles and floating particles. Precise depth mapping of the tank bottom is carried out.

[1]  T. Ura,et al.  Construction and operation of four autonomous underwater vehicles for lake survey , 2002, Proceedings of the 2002 Interntional Symposium on Underwater Technology (Cat. No.02EX556).

[2]  Hayato Kondo,et al.  Object observation in detail by the AUV "Tri-Dog 1" with laser pointers , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[3]  Tamaki Ura,et al.  Visual investigation of underwater structures by the AUV and sea trials , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[4]  Frank M. Caimi,et al.  A 3-D laser line scanner for outcrop scale studies of seafloor features , 1999, Oceans '99. MTS/IEEE. Riding the Crest into the 21st Century. Conference and Exhibition. Conference Proceedings (IEEE Cat. No.99CH37008).

[5]  Hayato Kondo,et al.  Development of an Autonomous Underwater Vehicle "Tri-Dog" Toward Practical Use in Shallow Water , 2001, J. Robotics Mechatronics.

[6]  Hayato Kondo,et al.  Detailed object observation by autonomous underwater vehicle with localization involving uncertainty of magnetic bearings , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  Chau-Chang Wang,et al.  Underwater structure inspection with laser light stripes , 2000, Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418).

[8]  J. Kojima.  Cable tracking by autonomous underwater vehicle , 2003, 2003 International Conference Physics and Control. Proceedings (Cat. No.03EX708).

[9]  R. L. Wernli.  AUVs-a technology whose time has come , 2002, Proceedings of the 2002 Interntional Symposium on Underwater Technology (Cat. No.02EX556).