In this work, autonomy is developed for an uncrewed underwater vehicle (UUV) equipped with a multi-beam sonar to perform precise profiling maneuvers to map underwater iceberg topography using a novel method involving elliptical trajectories. Given a general estimate of the profile, elliptical survey swathes are generated at various depths based on vehicle, sensor, and mission constraints, and these trajectories are implemented in an iceberg-centric coordinate frame to incorporate iceberg drift and rotational motion. Finally, autonomy and guidance methods are developed and implemented for the vehicle to track these trajectories and complete the profiling mission. The developed system is tested in a simulation environment using 4-degree of freedom dynamics for a variety of realistic iceberg profiles using point-cloud representations to validate performance, practicality, and robustness.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Iceberg Profiling Autonomy Using Elliptical Trajectories


    Contributors:

    Published in:

    Publication date :

    2024-09-23


    Size :

    804009 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Analytical landing trajectories for embedded autonomy

    Li, M.D. / MacDonald, M. / McInnes, C.R. et al. | Tema Archive | 2010


    Analytical Landing Trajectories for Embedded Autonomy

    Li, M D / Macdonald, M / McInnes, C R et al. | SAGE Publications | 2010



    Elliptical trajectories for non-holonomic vehicles

    Bampi, F. / Scalzo, A. / Zaccaria, R. et al. | British Library Conference Proceedings | 2007


    Elliptical trajectories for non-holonomic vehicles

    Bampi, F. / Scalzo, A. / Zaccaria, R. et al. | IEEE | 2007