Part B | 14
354 Part B Autonomous Ocean Vehicles, Subsystems and Control
For further information on navigation sensor device performance, the reader is directed to a detailed
survey by Kinsey et al. [14.1]. A tutorial introduction
to SLAM is provided by the authors of [14.104, 105].
Fallon et al. gives a detailed presentation for several recent SLAM applications, including mine neutralization,
real-time cooperative navigation, and ship hull inspection [14.106].
For future research in AUV navigation, a key challenge will be to develop techniques for Arctic and
Antarctic operations. Polar regions pose major difficulties for AUV navigation including: high magnetic
declination, inability to surface for GPS, infeasibility of deploying transponders, potentially moving ice
canopy, and limited recovery options. Recent work in
AUV navigation for polar regions includes the work
of Kunz et al., who have deployed variants of the
Seabed AUV in both the Arctic and Antarctic [14.107,
108].
Another ambitious goal for future research is
to develop robust navigation techniques, combined
with autonomous docking [14.44] and advanced communication networks [14.109], to enable long-term
AUV deployments for persistent ocean sampling missions [14.110] using underice or deep ocean observatories [14.111, 112].
References
14.1
J.C. Kinsey, R.M. Eustice, L.L. Whitcomb: A survey
of underwater vehicle navigation: Recent advances and new challenges, IFAC Conf. Manoeuvering Control Mar. Craft (2006)
14.2
C. von Alt, B. Allen, T. Austin, R. Stokey: Remote
environmental monitoring units, Proc. AUV ’94
(1994)
14.3
J.W. Rish, S. Willcox, R. Grieve, I. Montieth, J. Vaganay: Operational testing of the battlespace
preparation AUV in the shallow water regime,
Proc. IEEE Oceans, Vol. 1 (2001) pp. 123–129
14.4
F.S. Hover, R.M. Eustice, A. Kim, B.J. Englot,
H. Johannsson, M. Kaess, J.J. Leonard: Advanced
perception, navigation and planning for autonomous in-water ship hull inspection, Int.
J. Robotics Res. 31(12), 1445–1464 (2012)
14.5
H. Singh, A. Can, R. Eustice, S. Lerner, N. McPhee,
C. Roman: Seabed AUV offers new platform for
high-resolution imaging, Eos Trans. Am. Geophys.
Union 85(31), 289 (2004)
14.6
B. Anderson, J. Crowell: Workhorse AUV – A costsensible new autonomous underwater vehicle for
surveys/soundings, search and rescue, and research, Proc. MTS/IEEE OCEANS (2005) pp. 1–6
14.7
D. Yoerger, M. Jakuba, A. Bradley, B. Bingham:
Techniques for deep sea near bottom survey
using an autonomous underwater vehicle, Int.
J. Robotics Res. 26(1), 416–429 (2007)
14.8
L.L. Whitcomb, M.V. Jakuba, J.C. Kinsey, S.C. Martin, S.E. Webster, J.C. Howland, C.L. Taylor,
D. Gomez-Ibanez, D.R. Yoerger: Navigation and
control of the Nereus hybrid underwater vehicle for global ocean science to 10,903 m depth:
Preliminary results, Proc. IEEE Int. Conf. Robotics
Autom. (ICRA) (2010) pp. 594–600
14.9
J. Sherman, R.E. Davis, W.B. Owens, J. Valdes:
The autonomous underwater glider, IEEE J. Ocean.
Eng. 26(4), 437–446 (2001)
14.10
J.G. Paglia, W.F. Wyman: DARPA’s autonomous
minehunting and mapping technologies (AMMT)
program: An overview, Proc. IEEE Oceans, Vol. 2
(1996) pp. 794–799
14.11
D.B. Heckman, R.C. Abbott: An acoustic navigation
technique, Proc. IEEE OCEANS ’73 (1973) pp. 591–
595
14.12
M. Hunt, W. Marquet, D. Moller, K. Peal, W. Smith,
R. Spindel: An acoustic navigation system, Tech.
Rep. WHOI-74-6 (Woods Hole Oceanographic Institution, Falmouth 1974)
14.13
P.H. Milne: Underwater Acoustic Positioning Systems (Gulf Publishing, Houston 1983)
14.14
J. Vaganay, J.G. Bellingham, J.J. Leonard: Outlier rejection for autonomous acoustic navigation, Proc. IEEE Int. Conf. Robotics Autom. (1996)
pp. 2174–2181
14.15
M. Deffenbaugh, H. Schmidt, J. Bellingham:
Acoustic positioning in a fading multipath environment, Proc. IEEE Oceans (1996) pp. 596–600
14.16
E. Geyer, P. Creamer, J. D’Appolito, R. Gains: Characteristics and capabilities of navigation systems
for unmanned untethered submersibles, Proc.
Int. Symp. Unmanned Untethered Submers. Technol. (1987) pp. 320–347
14.17
S.T. Tuohy, J.J. Leonard, J.G. Bellingham, N.M. Patrikalakis, C. Chryssostomidis: Map based navigation for autonomous underwater vehicles, Int.
J. Offshore Polar Eng. 6(1), 9–18 (1996)
14.18
J.M. Paros: Digital pressure tranducer, US Patent
4 455 874 (1984)
14.19
N.P. Fofonoff, R.C. Millard: Algorithms for computation of fundamental properties of seawater,
UNESCO Tech. Paper Mar. Sci. 44, 1–53 (1983)
14.20
A.J. Healey, E.P. An, D.B. Marco: Online compensation of heading sensor bias for low cost AUVs,
Proc. IEEE AUV 98 (1998) pp. 35–42
14.21
G. Dudek, M. Jenkin: Inertial sensors, GPS, and
odometry. In: Springer Handbook of Robotics, ed.
by B. Siciliano, O. Khatib (Springer, Berlin, Heidelberg 2008)
14.22
D. Mackenzie: Inventing Accuracy (MIT, Cambridge
1990)
14.23
R.A. Bergh, H.C. Lefevre, H.J. Shaw: All-singlemode fiber-optic gyroscope, Optics Lett. 6(4),
198–200 (1981)
354 Part B Autonomous Ocean Vehicles, Subsystems and Control
For further information on navigation sensor device performance, the reader is directed to a detailed
survey by Kinsey et al. [14.1]. A tutorial introduction
to SLAM is provided by the authors of [14.104, 105].
Fallon et al. gives a detailed presentation for several recent SLAM applications, including mine neutralization,
real-time cooperative navigation, and ship hull inspection [14.106].
For future research in AUV navigation, a key challenge will be to develop techniques for Arctic and
Antarctic operations. Polar regions pose major difficulties for AUV navigation including: high magnetic
declination, inability to surface for GPS, infeasibility of deploying transponders, potentially moving ice
canopy, and limited recovery options. Recent work in
AUV navigation for polar regions includes the work
of Kunz et al., who have deployed variants of the
Seabed AUV in both the Arctic and Antarctic [14.107,
108].
Another ambitious goal for future research is
to develop robust navigation techniques, combined
with autonomous docking [14.44] and advanced communication networks [14.109], to enable long-term
AUV deployments for persistent ocean sampling missions [14.110] using underice or deep ocean observatories [14.111, 112].
References
14.1
J.C. Kinsey, R.M. Eustice, L.L. Whitcomb: A survey
of underwater vehicle navigation: Recent advances and new challenges, IFAC Conf. Manoeuvering Control Mar. Craft (2006)
14.2
C. von Alt, B. Allen, T. Austin, R. Stokey: Remote
environmental monitoring units, Proc. AUV ’94
(1994)
14.3
J.W. Rish, S. Willcox, R. Grieve, I. Montieth, J. Vaganay: Operational testing of the battlespace
preparation AUV in the shallow water regime,
Proc. IEEE Oceans, Vol. 1 (2001) pp. 123–129
14.4
F.S. Hover, R.M. Eustice, A. Kim, B.J. Englot,
H. Johannsson, M. Kaess, J.J. Leonard: Advanced
perception, navigation and planning for autonomous in-water ship hull inspection, Int.
J. Robotics Res. 31(12), 1445–1464 (2012)
14.5
H. Singh, A. Can, R. Eustice, S. Lerner, N. McPhee,
C. Roman: Seabed AUV offers new platform for
high-resolution imaging, Eos Trans. Am. Geophys.
Union 85(31), 289 (2004)
14.6
B. Anderson, J. Crowell: Workhorse AUV – A costsensible new autonomous underwater vehicle for
surveys/soundings, search and rescue, and research, Proc. MTS/IEEE OCEANS (2005) pp. 1–6
14.7
D. Yoerger, M. Jakuba, A. Bradley, B. Bingham:
Techniques for deep sea near bottom survey
using an autonomous underwater vehicle, Int.
J. Robotics Res. 26(1), 416–429 (2007)
14.8
L.L. Whitcomb, M.V. Jakuba, J.C. Kinsey, S.C. Martin, S.E. Webster, J.C. Howland, C.L. Taylor,
D. Gomez-Ibanez, D.R. Yoerger: Navigation and
control of the Nereus hybrid underwater vehicle for global ocean science to 10,903 m depth:
Preliminary results, Proc. IEEE Int. Conf. Robotics
Autom. (ICRA) (2010) pp. 594–600
14.9
J. Sherman, R.E. Davis, W.B. Owens, J. Valdes:
The autonomous underwater glider, IEEE J. Ocean.
Eng. 26(4), 437–446 (2001)
14.10
J.G. Paglia, W.F. Wyman: DARPA’s autonomous
minehunting and mapping technologies (AMMT)
program: An overview, Proc. IEEE Oceans, Vol. 2
(1996) pp. 794–799
14.11
D.B. Heckman, R.C. Abbott: An acoustic navigation
technique, Proc. IEEE OCEANS ’73 (1973) pp. 591–
595
14.12
M. Hunt, W. Marquet, D. Moller, K. Peal, W. Smith,
R. Spindel: An acoustic navigation system, Tech.
Rep. WHOI-74-6 (Woods Hole Oceanographic Institution, Falmouth 1974)
14.13
P.H. Milne: Underwater Acoustic Positioning Systems (Gulf Publishing, Houston 1983)
14.14
J. Vaganay, J.G. Bellingham, J.J. Leonard: Outlier rejection for autonomous acoustic navigation, Proc. IEEE Int. Conf. Robotics Autom. (1996)
pp. 2174–2181
14.15
M. Deffenbaugh, H. Schmidt, J. Bellingham:
Acoustic positioning in a fading multipath environment, Proc. IEEE Oceans (1996) pp. 596–600
14.16
E. Geyer, P. Creamer, J. D’Appolito, R. Gains: Characteristics and capabilities of navigation systems
for unmanned untethered submersibles, Proc.
Int. Symp. Unmanned Untethered Submers. Technol. (1987) pp. 320–347
14.17
S.T. Tuohy, J.J. Leonard, J.G. Bellingham, N.M. Patrikalakis, C. Chryssostomidis: Map based navigation for autonomous underwater vehicles, Int.
J. Offshore Polar Eng. 6(1), 9–18 (1996)
14.18
J.M. Paros: Digital pressure tranducer, US Patent
4 455 874 (1984)
14.19
N.P. Fofonoff, R.C. Millard: Algorithms for computation of fundamental properties of seawater,
UNESCO Tech. Paper Mar. Sci. 44, 1–53 (1983)
14.20
A.J. Healey, E.P. An, D.B. Marco: Online compensation of heading sensor bias for low cost AUVs,
Proc. IEEE AUV 98 (1998) pp. 35–42
14.21
G. Dudek, M. Jenkin: Inertial sensors, GPS, and
odometry. In: Springer Handbook of Robotics, ed.
by B. Siciliano, O. Khatib (Springer, Berlin, Heidelberg 2008)
14.22
D. Mackenzie: Inventing Accuracy (MIT, Cambridge
1990)
14.23
R.A. Bergh, H.C. Lefevre, H.J. Shaw: All-singlemode fiber-optic gyroscope, Optics Lett. 6(4),
198–200 (1981)