Sonar Image Processing based Underwater Localization and Path Planning for AUV's Autonomous Swimming

Li, J. H.; Park, D. G.; Ki, Hyeon-Seung

doi:10.1109/codit.2018.8394810

Cited by 2 publications

(2 citation statements)

References 2 publications

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“…The algorithm achieved a successful arrival rate in experiments that is nearly 40% higher than conventional algorithms. Li et al [55] constructed an Occupancy Grid Map (OGM) for path planning. It is a grid mapping in which each grid is assigned a unique value using a specific potential function.…”

Section: Path Planning Unitmentioning

confidence: 99%

Survey of Terrain-Aided Navigation Methods for Underwater Vehicles

et al. 2023

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The prerequisite for underwater vehicles to accomplish various underwater tasks is to obtain real-time position information about themselves in the underwater environment using internal or external sensors, which is known as underwater positioning and navigation technology. This paper presents a general review of underwater vehicle positioning and navigation technology and illustrates the importance of underwater terrain-aided navigation technology. It also summarizes its general structure and describes the principles and functions of each component. The paper mainly analyzes various mainstream methods applied to underwater terrain-aided navigation, focuses on terrain suitability analysis and terrain matching algorithms, which play a central role in the analysis. Additionally, the research progress of terrain-aided navigation technology is described, and the research methods of terrain suitability analysis, terrain matching navigation, and the latest technology applications are compared. Some shortcomings of the current underwater terrain-aided navigation technology are presented, and future research directions are foreseen to provide a basis for subsequent research.

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Section: Path Planning Unitmentioning

confidence: 99%

Survey of Terrain-Aided Navigation Methods for Underwater Vehicles

et al. 2023

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“…AUVs can freely and autonomously swim without the umbilical cable. However, AUVs cannot closely approach the seabed pipelines and can only roughly image the pipeline with sonars at a distance; Resolution is too low to identify the pipeline buckling [9]- [12]. Both ROV and AUV are too costly to be frequently deployed.…”

Section: Introductionmentioning

confidence: 99%

Lateral Pipeline Buckling Detection via Demagnetization and Interior Magnetic Measurement

Huang

et al. 2020

IEEE Access

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Thermal buckling of subsea pipelines often occurs and seriously threatens pipeline safety. The spherical detector (SD) can realize quasi real-time detection of pipeline buckling owing to its low blockage risk and convenient launch-retrieval deployment. Vertical buckling can be judged by the rolling speed of the SD, while lateral buckling can only be judged by the interior magnetic fields. However, irregular magnetic remanence of the pipeline seriously hinders the magnetic detection of lateral buckling. To against this problem, this paper proposes a method of detecting the lateral pipeline buckling via demagnetization and interior magnetic measurement. It is experimentally demonstrated that demagnetization can remove most of the remanence of the pipeline and make the interior magnetic fields more regular and uniform; After the pipe is demagnetized, both severe and weak lateral bucklings can be sensitively indicated by the single or double peaks of the interior magnetic fields measured by the SD. The interior magnetic fields are also experimentally demonstrated capable of indicating the first and recurring weak buckling through comparing with the previous detection data.

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Sonar Image Processing based Underwater Localization and Path Planning for AUV's Autonomous Swimming

Cited by 2 publications

References 2 publications

Survey of Terrain-Aided Navigation Methods for Underwater Vehicles

Survey of Terrain-Aided Navigation Methods for Underwater Vehicles

Lateral Pipeline Buckling Detection via Demagnetization and Interior Magnetic Measurement

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