Title :
AUV Behavior Algorithm While Inspecting of Partly Visible Pipeline
Author :
Inzartsev, Alexander V. ; Pavin, Alexander M.
Author_Institution :
Inst. of Marine Technol. Problems, Russian Acad. of Sci., Moscow
Abstract :
The questions of motion planning of the autonomous underwater vehicle (AUV) during inspection of underwater pipelines are considered in the paper. The data of onboard distance-measuring acoustic devices (echo-sounding system) are used for pipeline identification and subsequent AUV motion planning. Current and gathered information about terrain and also known geometrical parameters of the pipeline are used for determination of the pipeline position at each moment of time. Modeling results of proposed inspection algorithm are discussed
Keywords :
acoustic devices; path planning; pipelines; remotely operated vehicles; underwater equipment; underwater sound; underwater vehicles; AUV behavior algorithm; AUV motion planning; autonomous underwater vehicles; echo-sounding system; geometrical parameters; inspection algorithm; onboard distance-measuring acoustic devices; terrain information; underwater pipelines; Inspection; Leak detection; Marine technology; Motion detection; Object detection; Pipelines; Sea measurements; Sonar detection; Technology planning; Underwater vehicles;
Conference_Titel :
OCEANS 2006
Conference_Location :
Boston, MA
Print_ISBN :
1-4244-0114-3
Electronic_ISBN :
1-4244-0115-1
DOI :
10.1109/OCEANS.2006.306793
