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Technology of AUV High-Precision Referencing to Inspected Object

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Abstract

A new algorithm and a method of coordinate referencing of an unmanned autonomous underwater vehicle (AUV) to underwater objects using stereo images are proposed for automated inspection of bottom industrial infrastructure facilities. Computational experiments have been carried out using a modeling simulator based on a hybrid multiprocessor computing architecture. The proposed solutions have been estimated in terms of efficiency.

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ACKNOWLEDGMENTS

The work was carried out with partial support of the Russian Foundation for Basic Research (RFBR) (project 18-07-00165), the Far East 2018–2020 Program of the FEB RAS (project 18-5-014), the RAS Presidium Program no. 27 (project Modeling of Hazardous Oceanic and Other Natural Phenomena Using Supercomputers, and Control of Technogenic Facilities), and the RAS Presidium Program no. 29 Topical Problems of Robotic Systems (project 264-2018-007).

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Authors and Affiliations

  1. Institute for Automation and Control Processes, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russia

    V. A. Bobkov & A. P. Kudryashov

  2. Institute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russia

    A. V. Inzartsev

Authors
  1. V. A. Bobkov
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  2. A. P. Kudryashov
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  3. A. V. Inzartsev
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Correspondence to V. A. Bobkov.

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Bobkov, V.A., Kudryashov, A.P. & Inzartsev, A.V. Technology of AUV High-Precision Referencing to Inspected Object. Gyroscopy Navig. 10, 322–329 (2019). https://doi.org/10.1134/S2075108719040060

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  • DOI: https://doi.org/10.1134/S2075108719040060

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