• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar

Norgren, Petter; Skjetne, Roger
Journal article, Peer reviewed
Thumbnail
View/Open
1-s2.0-S2405896315021539-main.pdf (655.3Kb)
URI
http://hdl.handle.net/11250/2403955
Date
2015
Metadata
Show full item record
Collections
  • Publikasjoner fra CRIStin - NTNU [41894]
Original version
IFAC-PapersOnLine 2015, 48(16):81-88   10.1016/j.ifacol.2015.10.262
Abstract
Obtaining 3D information about ice features, like icebergs, are of interest to researchers and offshore operators moving into the Arctic. Icebergs are affected by wind, and ocean currents, and can have unpredictable drift patterns, causing challenges when it comes to mapping objectives. Autonomous underwater vehicles (AUVs) equipped with multibeam echosounders are suitable for obtaining measurements of the underwater geometry of icebergs, but advances in autonomy are needed to map drifting icebergs reliably. This paper details a guidance algorithm for detecting and circumnavigating an iceberg - following the iceberg edge. The guidance scheme is implemented as a state machine, starting in an iceberg detection-mode. Once an iceberg is detected, the AUV will enter a mapping-mode. An edge detection algorithm will determine the position of the edge, and a line-of-sight approach will be used for edge-following. A six degree-of-freedom AUV simulator is used to perform a simulation study, to show how AUV dynamics affect the results. The simulation study presented shows the algorithm's effectiveness, both when the iceberg is assumed stationary, and when the iceberg is drifting and rotating with constant velocity.
Description
Publisher
Elsevier

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit