Autonomous Underwater Vehicle Navigation

This chapter surveys the problem of navigation for autonomous underwater vehicles (AUV s). Navigation is critical for the safety and effectiveness of AUV missions. The unavailability of global positioning system (GPS ) underwater makes AUV navigation a challenging research problem. Recent years have seen considerable improvements in performance and reduction in the cost and size of the various sensor devices available for ocean vehicle navigation. In concert with these developments, advances in algorithms such as simultaneous localization and mapping, and cooperative navigation have enabled dramatic improvements in the navigation capabilities of AUVs. These improvements in AUV navigation have contributed to the successful deployment of AUVs for a wide variety of applications over the past decade.

[1]  J. Crowell,et al.  Workhorse AUV – A cost-sensible new Autonomous Underwater Vehicle for Surveys/Soundings, Search & Rescue, and Research , 2005, Proceedings of OCEANS 2005 MTS/IEEE.

[2]  Frank Dellaert,et al.  Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing , 2006, Int. J. Robotics Res..

[3]  A.J. Healey,et al.  Online compensation of heading sensor bias for low cost AUVs , 1998, Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290).

[4]  Wolfram Burgard,et al.  Efficient Sparse Pose Adjustment for 2D mapping , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  R. Abbott,et al.  An acoustic navigation technique , 1973 .

[6]  Henrik Schmidt,et al.  Real-time frontal mapping with AUVs in a coastal environment , 1996, OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean - Prospects for the 21st Century.

[7]  Matthew R. Walter,et al.  Consistent cooperative localization , 2009, 2009 IEEE International Conference on Robotics and Automation.

[8]  Peter Cheeseman,et al.  A stochastic map for uncertain spatial relationships , 1988 .

[9]  Donald L. Turcotte,et al.  Geodynamics : applications of continuum physics to geological problems , 1982 .

[10]  Brian Bingham,et al.  Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle , 2007, Int. J. Robotics Res..

[11]  N. P. Fofonoff,et al.  Algorithms for Computation of Fundamental Properties of Seawater. Endorsed by Unesco/SCOR/ICES/IAPSO Joint Panel on Oceanographic Tables and Standards and SCOR Working Group 51. Unesco Technical Papers in Marine Science, No. 44. , 1983 .

[12]  John Weston,et al.  Strapdown Inertial Navigation Technology , 1997 .

[13]  J. Vaganay,et al.  Operational testing of the Battlespace Preparation AUV in the shallow water regime , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[14]  J. A. Catipovic,et al.  Performance limitations in underwater acoustic telemetry , 1990 .

[15]  C. Wunsch.  The Ocean Circulation Inverse Problem , 1996 .

[16]  Hugh Durrant-Whyte,et al.  Simultaneous localization and mapping (SLAM): part II , 2006 .

[17]  Stefan B. Williams,et al.  Efficient View-Based SLAM Using Visual Loop Closures , 2008, IEEE Transactions on Robotics.

[18]  John J. Leonard,et al.  Cooperative Localization for Autonomous Underwater Vehicles , 2009, Int. J. Robotics Res..

[19]  David T. Sandwell,et al.  Geophysical applications of satellite altimetry , 1991 .

[20]  Naomi Ehrich Leonard,et al.  Preparing to predict: The Second Autonomous Ocean Sampling Network (AOSN-II) experiment in the Monterey Bay , 2009 .

[21]  Henrik I. Christensen,et al.  Closing the Loop With Graphical SLAM , 2007, IEEE Transactions on Robotics.

[22]  R. Davis,et al.  The autonomous underwater glider "Spray" , 2001 .

[23]  Rachid Deriche,et al.  Segmentation of bathymetric profiles and terrain matching for underwater vehicle navigation , 1998, Int. J. Syst. Sci..

[24]  B. Kamgar-Parsi.  Registration algorithms for geophysical maps , 1997, Oceans '97. MTS/IEEE Conference Proceedings.

[25]  Clayton Kunz,et al.  Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments , 2012 .

[26]  Frank Dellaert,et al.  iSAM2: Incremental smoothing and mapping using the Bayes tree , 2012, Int. J. Robotics Res..

[27]  David Wettergreen,et al.  Real‐Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels , 2007, J. Field Robotics.

[28]  L.L. Whitcomb,et al.  Recent Advances in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation , 2006, OCEANS 2006.

[29]  Tom Duckett,et al.  A multilevel relaxation algorithm for simultaneous localization and mapping , 2005, IEEE Transactions on Robotics.

[30]  H J Shaw,et al.  All-single-mode fiber-optic gyroscope. , 1981, Optics letters.

[31]  Bill Howe,et al.  NEPTUNE: real-time, long-term ocean and Earth studies at the scale of a tectonic plate , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[32]  Alexandre Bernardino,et al.  Mosaic-based navigation for autonomous underwater vehicles , 2003 .

[33]  John J. Leonard,et al.  Dynamic positioning of beacon vehicles for cooperative underwater navigation , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  B. Cornuelle,et al.  Ocean acoustic tomography , 1988, Signal Recovery and Synthesis.

[35]  Jeffrey K. Uhlmann,et al.  A counter example to the theory of simultaneous localization and map building , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[36]  J.J. Leonard,et al.  Experimental validation of the moving long base-line navigation concept , 2004, 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578).

[37]  J. Toole,et al.  Automated Ice-Tethered Profilers for Seawater Observations under Pack Ice in All Seasons , 2008 .

[38]  Carl Tyrén.  Magnetic Anomalies as a Reference for Ground-speed and Map-matching Navigation , 1982 .

[39]  D. Yoerger,et al.  Combined Doppler/LBL Based Navigation of Underwater Vehicles , 1999 .

[40]  Franz S. Hover,et al.  Advanced perception, navigation and planning for autonomous in-water ship hull inspection , 2012, Int. J. Robotics Res..

[41]  Evangelos E. Milios,et al.  Globally Consistent Range Scan Alignment for Environment Mapping , 1997, Auton. Robots.

[42]  D. C. Webb,et al.  SLOCUM: an underwater glider propelled by environmental energy , 2001 .

[43]  Franz S. Hover,et al.  Simultaneous Localization and Mapping in Marine Environments , 2013 .

[44]  Hanumant Singh,et al.  Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[45]  Max Deffenbaugh,et al.  Acoustic positioning in a fading multipath environment , 1996, OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean - Prospects for the 21st Century.

[46]  Dana R. Yoerger,et al.  Navigation and control of the Nereus hybrid underwater vehicle for global ocean science to 10,903 m depth: Preliminary results , 2010, 2010 IEEE International Conference on Robotics and Automation.

[47]  John J. Leonard,et al.  Stochastic mapping using forward look sonar , 2001, Robotica.

[48]  Jean-Claude Sibuet,et al.  Thin crust at the western Iberia Ocean‐Continent transition and ophiolites , 1993 .

[49]  W. Kuperman,et al.  Phase conjugation in the ocean: Experimental demonstration of an acoustic time-reversal mirror , 1998 .

[50]  John J. Leonard,et al.  Temporally scalable visual SLAM using a reduced pose graph , 2013, 2013 IEEE International Conference on Robotics and Automation.

[51]  Hanumant Singh,et al.  Exactly Sparse Delayed-State Filters for View-Based SLAM , 2006, IEEE Transactions on Robotics.

[52]  John J. Leonard,et al.  Cooperative AUV Navigation using a Single Maneuvering Surface Craft , 2010, Int. J. Robotics Res..

[53]  John J. Leonard,et al.  Autonomy through SLAM for an Underwater Robot , 2009, ISRR.

[54]  P. N. Denbigh.  Ship velocity determination by Doppler and correlation techniques , 1984 .

[55]  Hanumant Singh,et al.  Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles , 2012, Int. J. Robotics Res..

[56]  Hugh F. Durrant-Whyte,et al.  A solution to the simultaneous localization and map building (SLAM) problem , 2001, IEEE Trans. Robotics Autom..

[57]  Hanumant Singh,et al.  Preliminary deep water results in single-beacon one-way-travel-time acoustic navigation for underwater vehicles , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[58]  J. White,et al.  Gravity based navigation of AUVs , 1990, Symposium on Autonomous Underwater Vehicle Technology.

[59]  M. B. Larsen,et al.  High performance Doppler-inertial navigation-experimental results , 2000, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158).

[60]  A.B. Baggeroer,et al.  The state of the art in underwater acoustic telemetry , 2000, IEEE Journal of Oceanic Engineering.

[61]  J. A. Catipovic,et al.  An integrated approach to multiple AUV communications, navigation and docking , 1996, OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean - Prospects for the 21st Century.

[62]  J. G. Paglia,et al.  DARPA'S autonomous minehunting and mapping technologies (AMMT) program an overview , 1996, OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean - Prospects for the 21st Century.

[63]  Brendan J. Frey,et al.  Factor graphs and the sum-product algorithm , 2001, IEEE Trans. Inf. Theory.

[64]  C. Roman,et al.  Seabed AUV offers new platform for high‐resolution imaging , 2004 .

[65]  John J. Leonard,et al.  Cooperative Localization for Autonomous Underwater Vehicles , 2009, Int. J. Robotics Res..

[66]  Frank Dellaert,et al.  iSAM: Incremental Smoothing and Mapping , 2008, IEEE Transactions on Robotics.

[67]  E. Geyer,et al.  Characteristics and capabilities of navigation systems for unmanned untethered submersibles , 1987, Proceedings of the 1987 5th International Symposium on Unmanned Untethered Submersible Technology.

[68]  Max Deffenbaugh,et al.  A matched field processing approach to long range acoustic navigation , 1994 .

[69]  Nicholas M. Patrikalakis,et al.  Geophysical map representation, abstraction and interrogation for autonomous underwater vehicle navigation , 1993 .

[70]  Louis L. Whitcomb,et al.  Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles , 2004 .

[71]  P. H. Milne,et al.  Underwater Acoustic Positioning Systems , 1983 .

[72]  James G. Bellingham,et al.  Map based navigation for autonomous underwater vehicles , 1995 .

[73]  Wolfram Burgard,et al.  G2o: A general framework for graph optimization , 2011, 2011 IEEE International Conference on Robotics and Automation.

[74]  Behzad Kamgar-Parsi,et al.  Toward an automated system for a correctly registered bathymetric chart , 1989 .

[75]  John J. Leonard,et al.  Trajectory Sonar Perception in the Ligurian Sea , 2004, ISER.

[76]  John J. Leonard,et al.  Outlier rejection for autonomous acoustic navigation , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[77]  Ryan M. Eustice,et al.  Advances in decentralized single-beacon acoustic navigation for underwater vehicles: Theory and simulation , 2010, 2010 IEEE/OES Autonomous Underwater Vehicles.

[78]  G. Griffiths,et al.  A correlation speed log for deep waters , 1998 .

[79]  Paulo Oliveira,et al.  Study and implementation of an EKF GIB-based underwater positioning system , 2004 .

[80]  Robert C. Spindel,et al.  An acoustic navigation system , 1974 .

[81]  Brian H. Tracey.  Design and testing of an acoustic ultra-short baseline navigation system , 1992 .

[82]  J. Bellingham,et al.  Autonomous Oceanographic Sampling Networks , 1993 .

[83]  W. Munk,et al.  Ocean Acoustic Tomograpthy: Notation , 1995 .

[84]  Hugh F. Durrant-Whyte,et al.  Simultaneous localization and mapping: part I , 2006, IEEE Robotics & Automation Magazine.

[85]  Ryan M. Eustice,et al.  Large-area visually augmented navigation for autonomous underwater vehicles , 2005 .

[86]  Kurt Konolige,et al.  Large-Scale Map-Making , 2004, AAAI.

[87]  James G. Bellingham.  Autonomous Ocean Sampling Networks , 2006 .