Autonomous detection, following and mapping of an underwater chain using sonar

详细信息    查看全文

• 作者：Natà ; lia Hurtó ; s ; ^{nhurtos@eia.udg.edu} ; Narcí ; s Palomeras ^{npalomer@eia.udg.edu} ; Arnau Carrera ^{acarrera@eia.udg.edu} ; Marc Carreras ^{marc.carreras@udg.edu}
• 关键词：Mooring chain ; Autonomous underwater vehicle ; Sonar
• 刊名：Ocean Engineering
• 出版年：2017
• 出版时间：15 January 2017
• 年：2017
• 卷：130
• 期：Complete
• 页码：336-350
• 全文大小：2370 K
• 卷排序：130

文摘

First step towards autonomous cleaning and inspection of mooring chains. On-line detection of chain links based on forward-looking and multibeam sonar. AUV control based on real-time sonar perception. Sonar mosaic to provide first inspection of chain state and surroundings.