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

2007252 citationsJournal Article

Authors

D. Yoerger · Woods Hole Oceanographic Institution

Michael V. Jakuba · Woods Hole Oceanographic Institution

A. M. Bradley · Woods Hole Oceanographic Institution

Brian Bingham · Franklin W. Olin College of Engineering

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.

Topics & Keywords

Underwater Vehicles and Communication Systems Underwater Acoustics Research Robotics and Sensor-Based Localization

UN Sustainable Development Goals

Life below water

Publication Details

Published in: The International Journal of Robotics Research

Volume 26, Issue 1, pp. 41-54

DOI: 10.1177/0278364907073773

Field-Weighted Citation Impact: 45.79