Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle

Authors:
Dana R. Yoerger;Michael Jakuba;Albert M. Bradley;Brian Bingham
Affiliations:
MS7 Blake Bldg, Woods Hole Oceanographic Insitution Woods Hole, MA 02543 USA;MS7 Blake Bldg, Woods Hole Oceanographic Insitution Woods Hole, MA 02543, USA;MS7 Blake Bldg, Woods Hole Oceanographic Insitution Woods Hole, MA 02543 USA;Franklin W. Olin College of Engineering, Needham, MA 02492, USA
Venue:
International Journal of Robotics Research
Year:
2007

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Abstract

This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.