Practical Experience towards Robust Underwater Navigation

Bibuli, Marco; Zereik, Enrica; Bruzzone, Gabriele; Caccia, Massimo; Ferretti, R.; Odetti, Angelo

doi:10.1016/j.ifacol.2018.09.516

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…The section of the path depicted in Figure 6b from the coordinates (0, −10) and (20, 10) is the desired trajectory of the joystick control and was taken from the real motion of the CNR INM ROV described in [119]. During the dive performed in Biograd Na Moru [120,121], the ROV moved at an average speed of 0.2 m/s. The remaining part of the path was controlled through way-point transmissions: the speed reaching a way-point varied from 0.5 m/s in zones where there were many details to inspect and precise maneuvers to be performed (e.g., the area depicted in Figure 6b) up to a speed of 1.5 m/s when the path was straight forward or did not require precise maneuvering (e.g., Figure 6c and the area that surround the relays in Figure 6a).…”

Section: Nodes Deployment Position Control and Pathmentioning

confidence: 99%

Wireless Remote Control for Underwater Vehicles

Campagnaro

Signori

Zorzi

2020

JMSE

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Nowadays, the increasing availability of commercial off-the-shelf underwater acoustic and non-acoustic (e.g., optical and electromagnetic) modems that can be employed for both short-range broadband and long-range low-rate communication, the increasing level of autonomy of underwater vehicles, and the refinement of their underwater navigation systems pave the way for several new applications, such as data muling from underwater sensor networks and the transmission of real-time video streams underwater. In addition, these new developments inspired many companies to start designing hybrid wireless-driven underwater vehicles specifically tailored for off-shore operations and that are able to behave either as remotely operated vehicles (ROVs) or as autonomous underwater vehicles (AUVs), depending on both the type of mission they are required to perform and the limitations imposed by underwater communication channels. In this paper, we evaluate the actual quality of service (QoS) achievable with an underwater wireless-piloted vehicle, addressing the realistic aspects found in the underwater domain, first reviewing the current state-of-the-art of communication technologies and then proposing the list of application streams needed for control of the underwater vehicle, grouping them in different working modes according to the level of autonomy required by the off-shore mission. The proposed system is finally evaluated by employing the DESERT Underwater simulation framework by specifically analyzing the QoS that can be provided to each application stream when using a multimodal underwater communication system specifically designed to support different traffic-based QoSs. Both the analysis and the results show that changes in the underwater environment have a strong impact on the range and on the stability of the communication link.

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Section: Nodes Deployment Position Control and Pathmentioning

confidence: 99%