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An efficient underwater coverage method for multi-AUV with sea current disturbances

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  • Robotics and Automation
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Abstract

This paper presents an online coverage method for the exploration of unknown oceanic terrains using multiple autonomous underwater vehicles (AUVs). Working from the concept of planar algorithm developed by Hert, this study attempts to develop an improved method. Instead of theoretical research, it focuses on the practical aspects of exploration by considering the equations of motion for AUVs that are actually used in oceanic exploration as well as on the characteristics of complex oceanic topography and other realistic variables, such as sea current. These elements are used to calculate cross track error (CTE) and path width for AUV movement. The validity of the improved algorithm for terrain coverage is first verified mathematically and then by a simulation of the real underwater environment that analyzes the path length and time taken for the coverage as well as the missed areas, which is the key element of efficiency. In order to apply the improved method to the multi-AUV operation, each AUV was assigned a covering or a scanning role by means of a dynamic role-changing mechanism. The results showed that the multi-AUV operation has an advantage over a single-AUV operation in many ways. The method proposed in this study will be useful not only for commercial applications but also for mine counter-measures (MCMs) and rapid environmental assessments (REAs) as part of naval military operations as well. We also believe that it will be ideal for use in variable oceanic environment, particularly in shallow water terrains. For the purposes of this study, we assume that the communication between AUVs is problem-free.

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Authors and Affiliations

  1. Navy, Jinhae-si, Gyeongsangnamdo, Seoul, Korea

    Yeun-Soo Jung

  2. Dept. of Electrical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Korea

    Kong-Woo Lee & Beom-Hee Lee

  3. Hyundai and KIA Motor Company, Jangdeok-dong, Hwaseong-si, Gyeonggi-do, Korea

    Seong-Yong Lee

  4. Dept. of Electrical and Electronic Eng., Kangwon National University, Chuncheon, Kangwon-do, Korea

    Myoung Hwan Choi

Authors
  1. Yeun-Soo Jung
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  2. Kong-Woo Lee
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  3. Seong-Yong Lee
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  4. Myoung Hwan Choi
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  5. Beom-Hee Lee
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Corresponding author

Correspondence to Kong-Woo Lee.

Additional information

Recommended by Editorial Board member Sooyong Lee under the direction of Editor Jae-Bok Song. This work was supported in part by MOCIE Industrial Technology Development Program, the ASRI, and BK21 Information Technology at Seoul National University.

Yeun-Soo Jung received the Ph.D. degree in Electrical Engineering from Seoul National University in 2008. His research interests include autonomous underwater vehicles and multi-agent control.

Kong-Woo Lee received the M.S. degree in Electrical Engineering from Seoul National University in 2007. His research interests include multi-agent control, autonomous mobile robot navigation and SLAM.

Seong-Yong Lee received the M.S. degree in Electrical Engineering from Seoul National University in 2007. His research interests include intelligent robots, embedded systems, operating systems, and multi-agent control.

Myoung Hwan Choi received the Ph.D. degree in Control and Instrumentation Engineering from Seoul National University in 1992. His research interests include ultrasonic Imaging, biomedical signal processing and biomedical imaging.

Beom-Hee Lee received the Ph.D. degree in Computer, Information & Control Engineering from University of Michigan in 1985. His research interests include multi-agent system coordination, control, and application.

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Jung, YS., Lee, KW., Lee, SY. et al. An efficient underwater coverage method for multi-AUV with sea current disturbances. Int. J. Control Autom. Syst. 7, 615–629 (2009). https://doi.org/10.1007/s12555-009-0412-4

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  • DOI: https://doi.org/10.1007/s12555-009-0412-4

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