Development of Test-Bed AUV 'ISiMI' and Underwater Experiments on Free Running and Vision Guided Docking

In this chapter, development of a test-bed AUV is described. Free running test and vision guided docking are also presented. Autonomous underwater vehicles (AUVs) have become a main tool for surveying below the sea in scientific, military, and commercial applications because of the significant improvement in their performance. Despite the considerable improvement in AUV performance, however, AUV technologies are still attractive to scientists and engineers as a challenging field. For example, multiple AUVs and underwater docking are recent challenging issues in the field of AUV technologies (Edwards et al., 2004; Fiorelli et al., 2004; Stokey et al., 2001; Singh et al., 2001). To successfully implement these new technologies in the field, a number of sub-functions have to be tested and verified in advance. They could be control, navigation and communication functions as well as basic functions for AUVs, including an emergency architecture for survival. Since it would be very expensive and time consuming to conduct all these tests at sea, researchers and engineers engaged in the operation and development of underwater vehicles need easier test schemes and faster feedback of results in an environment similar to that of the sea. Underwater docking of an AUV to a launcher without surfacing allows the AUV have longer and more frequent investigations. Data uploading, mission downloading and recharge of batteries are essential duties of docking systems. Many research institutes have developed docking systems for AUVs. An ElectroMagnetic homing (EM) system was proposed as one of them (Feezor et al., 1997). A magnetic field generated by coils on the dock was used in that system. An AUV sensed this magnetic field and was guided to the dock. The range of the EM system was limited to 25-30m. An optical terminal guidance system was also introduced (Cowen et al., 1997). That system was simple but highly effective. The optical docking system provided targeting accuracy on the order of 1 cm under real-world conditions, even in turbid bay water. Autonomous docking demonstrations using an ultra-short baseline (USBL) acoustic homing array were shown in (Allen et al., 2006). The acoustic system was capable of acquiring a dock-mounted transponder at ranges of 3,000m or more. O pe n A cc es s D at ab as e w w w .in te ch w eb .o rg

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