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Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes (CROSBI ID 576657)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Mišković, Nikola ; Djapic, Vladimir ; Nađ, Đula ; Vukić, Zoran Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes // Proceedings of the 18th IFAC World Congress / Bittanti, Sergio ; Cenedese, Angelo ; Zampieri, Sandro (ur.). Milano, 2011. str. 14754-14759

Podaci o odgovornosti

Mišković, Nikola ; Djapic, Vladimir ; Nađ, Đula ; Vukić, Zoran

engleski

Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes

Autonomous vehicles (AxV), surface (ASV) and underwater (AUV), are being considered for the following maritime security missions: Mine Countermeasures (MCM) and Harbor Protection (HP). Applicable threats include attack swimmers/divers, bottom and moored mines, mines or improvised explosive devices placed on pilings, quays, or hulls of ships at anchor or in port. This article focuses on solutions for mine reacquisition and neutralization (RN). One concept for an overall RN system is two collaborating vehicles, an AxV and a unmanned underwater vehicle (UUV). The main task of the RN AxV is to reacquire a bottom target with multibeam imaging sonar, maintain distance while pointing at the target, and perform circular inspection around a target while varying the circle diameter. The main task of the RN UUV is to converge towards the desired line once deployed from the AxV. UUV guiding is accomplished by automatically processing sonar imagery onboard of the AxV and passing sonar position, and UUV range and bearing information to the UUV which processes this information to drive itself to the desired location.

Marine system navigation ; guidance and control ; Autonomous underwater vehicles ; Unmanned marine vehicles

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Podaci o prilogu

14754-14759.

2011.

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objavljeno

978-3-902661-93-7

Podaci o matičnoj publikaciji

Proceedings of the 18th IFAC World Congress

Bittanti, Sergio ; Cenedese, Angelo ; Zampieri, Sandro

Milano:

Podaci o skupu

18th World Congress of the International Federation of Automatic Control (IFAC)

predavanje

28.09.2011-02.10.2011

Milano, Italija

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti