TY - JOUR
T1 - Landing method of autonomous underwater vehicles for seafloor surveying
AU - Matsuda, Takumi
AU - Takizawa, Ryota
AU - Sakamaki, Takashi
AU - Maki, Toshihiro
N1 - Funding Information:
This work was supported by JSPS KAKENHI Grant Numbers JP16K18317 and JP18H01632. Sea experiments were supported by the staff of “OKI SEATEC”, Mr. Atsushi Oshida of Kawasaki Geological Engineering Co., Ltd., and Mr. Shigeo Okuma of National Institute of Advanced Industrial Science and Technology. The authors also received assistance from Mr. Yoshiaki Nose and Kotohiro Masuda of the Institute of Industrial Science at the University of Tokyo to develop the buoyancy adjustment system. The authors would like to sincerely appreciate them.
Funding Information:
This work was supported by JSPS KAKENHI Grant Numbers JP16K18317 and JP18H01632. Sea experiments were supported by the staff of ?OKI SEATEC?, Mr. Atsushi Oshida of Kawasaki Geological Engineering Co. Ltd. and Mr. Shigeo Okuma of National Institute of Advanced Industrial Science and Technology. The authors also received assistance from Mr. Yoshiaki Nose and Kotohiro Masuda of the Institute of Industrial Science at the University of Tokyo to develop the buoyancy adjustment system. The authors would like to sincerely appreciate them.
Publisher Copyright:
© 2020 Elsevier Ltd
PY - 2020/8
Y1 - 2020/8
N2 - This paper aims to provide stable landing methods and systems for hovering-type AUVs (autonomous underwater vehicles) on a seafloor, which will aid in seafloor investigations, such as gravity acceleration measurements near the seafloor. The proposed methods consist of two techniques. Firstly, a heading control method is proposed, in which the AUV is positioned to face currents before landing on the seafloor, thus reducing flow resistance. Secondly, a stability evaluation method is proposed, in which the landing quality is evaluated based on fast Fourier transform (FFT) analysis of its attitude. The methods were evaluated and verified based on data obtained from tank and sea experiments using an AUV Tri-TON. Thanks to the stability evaluation method, the landing stability was judged automatically with a success rate of 96% (27 of 28 cases). The heading control method also realized stable landing with a success rate of 80% (4 of 5 cases). To enhance the landing stability further, a buoyancy adjustment system was developed and verified using an AUV Tri-Dog 1. Thanks to the developed system, the stable landing was conducted successfully with a success rate of 100% (4 of 4 cases). The proposed methods and system will contribute to the stable landing of AUVs on the seafloor and enhance future seafloor surveys.
AB - This paper aims to provide stable landing methods and systems for hovering-type AUVs (autonomous underwater vehicles) on a seafloor, which will aid in seafloor investigations, such as gravity acceleration measurements near the seafloor. The proposed methods consist of two techniques. Firstly, a heading control method is proposed, in which the AUV is positioned to face currents before landing on the seafloor, thus reducing flow resistance. Secondly, a stability evaluation method is proposed, in which the landing quality is evaluated based on fast Fourier transform (FFT) analysis of its attitude. The methods were evaluated and verified based on data obtained from tank and sea experiments using an AUV Tri-TON. Thanks to the stability evaluation method, the landing stability was judged automatically with a success rate of 96% (27 of 28 cases). The heading control method also realized stable landing with a success rate of 80% (4 of 5 cases). To enhance the landing stability further, a buoyancy adjustment system was developed and verified using an AUV Tri-Dog 1. Thanks to the developed system, the stable landing was conducted successfully with a success rate of 100% (4 of 4 cases). The proposed methods and system will contribute to the stable landing of AUVs on the seafloor and enhance future seafloor surveys.
KW - Autonomous underwater vehicle (AUV)
KW - Buoyancy control
KW - Landing
KW - Seafloor surveying
UR - http://www.scopus.com/inward/record.url?scp=85087679358&partnerID=8YFLogxK
U2 - 10.1016/j.apor.2020.102221
DO - 10.1016/j.apor.2020.102221
M3 - Article
AN - SCOPUS:85087679358
SN - 0141-1187
VL - 101
JO - Applied Ocean Research
JF - Applied Ocean Research
M1 - 102221
ER -