Naslov
Novel method for underwater navigation aiding using a companion underwater robot as a guiding platforms

Autori
Djapic, Vladimir ; Nađ, Đula ; Ferri, Gabriele ; Omerdić, Edin ; Dooly, Gerard ; Toal, Dan ; Vukić, Zoran

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

Izvornik
MTS/IEEE Oceans : proceedings / - , 2013, 1-10

Skup
IEEE Oceans

Mjesto i datum
Bergen, Norveška, 10.06.2013. - 13.06.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
{; ; ; ; autonomous underwater vehicles ; control engineering computing ; mobile robots ; path planning ; Italy ; La Spezia ; MCM chain ; collaborating underwater vehicles ; companion underwater robot ; identification event ; intervention event ; mine countermeasures chain ; multivehicle cooperation ; reacquisition event ; underwater navigation method ; unmanned robotic platforms ; Robot sensing systems ; Sonar ; Sonar navigation ; Three-dimensional displays ; Vehicles

Sažetak
This paper presents the results of multi- national collaboration during the sea trial held in the coastal waters of La Spezia, Italy, in the period 17 Oct.-07 Nov. 2012. The trial was performed as one of the objectives of the program which has a goal to achieve the entire chain of Mine Countermeasures (MCM) using unmanned, robotic platforms. The focus of activities in this sea trial was to perform the last events of the mission: reacquisition, identification and intervention using a pair of collaborating underwater vehicles. The trial's objectives were to combine the expertise and robotic systems from different partners and achieve a mission of precise guiding of an inexpensive underwater vehicle to an underwater target using the navigation suite and control system of a more capable underwater vehicle. The objectives were accomplished and the researchers' opinion is that the extension to multi-vehicle cooperation (one leader guiding several agents, or followers) is feasible given the test results.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA