Author:
Kangsoo Kim
Affiliation:
National Maritime Research Institute, National Institute of Maritime, Port and Aviation Technology, 6-38-1 Shinkawa, Mitaka, Tokyo 181-0004, Japan
Keyword(s):
Longitudinal Motion Control, Acoustic Bottom Survey, Cruising AUV, Underactuated, Depth Control, Bottom Following.
Abstract:
Longitudinal motion control approaches for underactuated cruising AUVs primarily tasked with acoustic bottom surveys are addressed. For controlling the longitudinal motion of a cruising AUV, we implemented waypoint-based depth control and terrain following approaches during simulated acoustic bottom survey missions. Simulation results revealed that the distinct motion control approaches significantly influence the pitch motion of the vehicle, thereby directly impacting the quality of the acoustic bottom survey results. The safety issue of a cruising AUV, particularly regarding the occurrence of bottom collisions during its near-bottom survey missions is also investigated in this research. Concerning the safety issue, we found that while traversing the same trackline, the likelihood of an AUV encountering a bottom collision varies considerably, based on the specific motion control approach being utilized.