A NEW PARADIGM FOR SHIP HULL INSPECTION USING A HOLONOMIC HOVER-CAPABLE AUV

Robert Damus, Samuel Desset, James Morash, Victor Polidoro, Franz Hover, Chrys Chryssostomidis, Jerome Vaganay, Scott Willcox

Abstract

The MIT Sea Grant AUV Lab, in association with Bluefin Robotics Corporation, has undertaken the task of designing a new autonomous underwater vehicle, a holonomic hover-capable robot capable of performing missions where an inspection capability similar to that of a remotely operated vehicle is the primary goal. One of the primary issues in this mode of operating AUVs is how the robot perceives its environment and thus navigates. The predominant methods for navigating in close proximity to large iron structures, which precludes accurate compass measurements, require the AUV to receive position information updates from an outside source, typically an acoustic LBL or USBL system. The new paradigm we present in this paper divorces the navigation routine from any absolute reference frame; motions are referenced directly to the hull. We argue that this technique offers some substantial benefits over the conventional approaches, and will present the current status of our project.

References

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Paper Citation


in Harvard Style

Damus R., Desset S., Morash J., Polidoro V., Hover F., Chryssostomidis C., Vaganay J. and Willcox S. (2004). A NEW PARADIGM FOR SHIP HULL INSPECTION USING A HOLONOMIC HOVER-CAPABLE AUV . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 127-132. DOI: 10.5220/0001145701270132


in Bibtex Style

@conference{icinco04,
author={Robert Damus and Samuel Desset and James Morash and Victor Polidoro and Franz Hover and Chrys Chryssostomidis and Jerome Vaganay and Scott Willcox},
title={A NEW PARADIGM FOR SHIP HULL INSPECTION USING A HOLONOMIC HOVER-CAPABLE AUV},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={127-132},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001145701270132},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A NEW PARADIGM FOR SHIP HULL INSPECTION USING A HOLONOMIC HOVER-CAPABLE AUV
SN - 972-8865-12-0
AU - Damus R.
AU - Desset S.
AU - Morash J.
AU - Polidoro V.
AU - Hover F.
AU - Chryssostomidis C.
AU - Vaganay J.
AU - Willcox S.
PY - 2004
SP - 127
EP - 132
DO - 10.5220/0001145701270132