Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes (CROSBI ID 576657)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
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.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 18th IFAC World Congress
Bittanti, Sergio ; Cenedese, Angelo ; Zampieri, Sandro
Milano:
978-3-902661-93-7
Podaci o skupu
18th World Congress of the International Federation of Automatic Control (IFAC)
predavanje
28.09.2011-02.10.2011
Milano, Italija