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Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes


Mišković, Nikola; Djapic, Vladimir; Nađ, Đula; Vukić, Zoran
Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes // Proceedings of the 18th IFAC World Congress / Bittanti, Sergio ; Cenedese, Angelo ; Zampieri, Sandro (ur.).
Milano, 2011. str. 14754-14759 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes

Autori
Mišković, Nikola ; Djapic, Vladimir ; Nađ, Đula ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 18th IFAC World Congress / Bittanti, Sergio ; Cenedese, Angelo ; Zampieri, Sandro - Milano, 2011, 14754-14759

ISBN
978-3-902661-93-7

Skup
18th World Congress of the International Federation of Automatic Control (IFAC)

Mjesto i datum
Milano, Italija, 28.09.-02.10.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Marine system navigation ; guidance and control ; Autonomous underwater vehicles ; Unmanned marine vehicles

Sažetak
Autonomous vehicles (AxV), surface (ASV) and underwater (AUV), are being considered for the following maritime security missions: Mine Countermeasures (MCM) and Harbor Protection (HP). Applicable threats include attack swimmers/divers, bottom and moored mines, mines or improvised explosive devices placed on pilings, quays, or hulls of ships at anchor or in port. This article focuses on solutions for mine reacquisition and neutralization (RN). One concept for an overall RN system is two collaborating vehicles, an AxV and a unmanned underwater vehicle (UUV). The main task of the RN AxV is to reacquire a bottom target with multibeam imaging sonar, maintain distance while pointing at the target, and perform circular inspection around a target while varying the circle diameter. The main task of the RN UUV is to converge towards the desired line once deployed from the AxV. UUV guiding is accomplished by automatically processing sonar imagery onboard of the AxV and passing sonar position, and UUV range and bearing information to the UUV which processes this information to drive itself to the desired location.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0362975-2999 - RoboMarSec - Podvodna robotika u zaštiti podmorja i pomorskoj sigurnosti (Zoran Vukić, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb