A Co-Operative Autonomous Offshore System for Target Detection Using Multi-Sensor Technology
Villa Escusol, Jose; Aaltonen, Jussi; Virta, Sauli; Koskinen, Kari (2020-12-16)
Villa Escusol, Jose
Julkaisun pysyvä osoite on
This article studies the design, modeling, and implementation challenges for a target detection algorithm using multi-sensor technology of a co-operative autonomous offshore system, formed by an unmanned surface vehicle (USV) and an autonomous underwater vehicle (AUV). First, the study develops an accurate mathematical model of the USV to be included as a simulation environment for testing the guidance, navigation, and control (GNC) algorithm. Then, a guidance system is addressed based on an underwater coverage path for the AUV, which uses a mechanical imaging sonar as the primary AUV perception sensor and ultra-short baseline (USBL) as a positioning system. Once the target is detected, the AUV sends its location to the USV, which creates a straight-line for path following with obstacle avoidance capabilities, using a LiDAR as the main USV perception sensor. This communication in the co-operative autonomous offshore system includes a decentralized Robot Operating System (ROS) framework with a master node at each vehicle. Additionally, each vehicle uses a modular approach for the GNC architecture, including target detection, path-following, and guidance control modules. Finally, implementation challenges in a field test scenario involving both AUV and USV are addressed to validate the target detection algorithm.
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