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Navigation of Autonomous Underwater Vehicles Using Acoustic and Visual Data Processing

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Computer Vision in Control Systems-2

Part of the book series: Intelligent Systems Reference Library ((ISRL,volume 75))

Abstract

A navigation model for an Autonomous Underwater Vehicle (AUV) combines acoustic and vision-based navigation principles. The acoustic guidance is based on the Time-Of-Flight (TOF) measurements carried out in a one-way asynchronous mode. Vision-based positioning employs a digital image processing approach using the log-polar transformations for a temporal series of on-board camera images. A proportional-integral-derivative controller is used to change a vehicle’s position and course. The corresponding control and error functions are provided. The model is implemented and tested numerically. The experiments confirmed a high reliability of the developed algorithms, which can be further applied in autonomous vehicle navigation and docking systems.

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Acknowledgments

The authors wish to thank the staff of the Laboratory for intellectual technologies and systems at Pacific National University, namely Ivan Karabanov, Mikhail Linnik, and Fedor Bezruchko, for the fruitful discussions and suggestions during the chapter preparation stage.

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Authors and Affiliations

  1. Pacific National University, 136 Tikhookeanskaya Street, Khabarovsk, 680035, Russian Federation

    Igor Burdinsky

  2. Saint Petersburg State University of Civil Aviation, 38 Pilotov Street, St. Petersburg, 196210, Russian Federation

    Anton Myagotin

Authors
  1. Igor Burdinsky
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  2. Anton Myagotin
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Corresponding author

Correspondence to Igor Burdinsky .

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Editors and Affiliations

  1. Department of Informatics and Computer Techniques, Siberian State Aerospace University, Krasnoyarsk, Russia

    Margarita N. Favorskaya

  2. Faculty of Education, Science, Technology and Mathematics, University of Canberra, Canberra, Australia

    Lakhmi C. Jain

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Burdinsky, I., Myagotin, A. (2015). Navigation of Autonomous Underwater Vehicles Using Acoustic and Visual Data Processing. In: Favorskaya, M., Jain, L. (eds) Computer Vision in Control Systems-2. Intelligent Systems Reference Library, vol 75. Springer, Cham. https://doi.org/10.1007/978-3-319-11430-9_9

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  • DOI: https://doi.org/10.1007/978-3-319-11430-9_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11429-3

  • Online ISBN: 978-3-319-11430-9

  • eBook Packages: EngineeringEngineering (R0)

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