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Abstract

This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data collected during autonomous excursions in a limestone quarry are used to generate a map of the quarry geometry.

Keywords

autonomous underwater vehicle depthx

Notes

Sponsor: NASA

Grant ID: NNG04GC09G

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): DEPTHX: Deep Phreatic Thermal Explorer

Number of pages: 8

Text Reference

George A. Kantor, Nathaniel Fairfield, Dominic Jonak, and David Wettergreen, "Experiments in Navigation and Mapping with a Hovering AUV," Intl. Conf. on Field and Service Robotics, 2007.

BibTeX Reference

@inproceedings{Kantor_2007_5823,
   author = "George A Kantor and Nathaniel Fairfield and Dominic Jonak and David Wettergreen",
   title = "Experiments in Navigation and Mapping with a Hovering AUV",
   booktitle = "Intl. Conf. on Field and Service Robotics",
   year = "2007",
}

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