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引用本文:B. A. A. P. Balasuriya,浦环.湖泊观测中的自动水下潜水器.湖泊科学,1998,10(s1):591-597. DOI:10.18307/1998.sup60
B. A. A. P. Balasuriya,Tamaki Ura.AUVs in Lake Observation. J. Lake Sci.1998,10(s1):591-597. DOI:10.18307/1998.sup60
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湖泊观测中的自动水下潜水器
B. A. A. P. Balasuriya, 浦环
Institute of Industrial Science, University of Tokyo, Japan
摘要:
This paper proposed the use of Autonomous Underwater Vehicles (AUVs) for lake observation. The performance of the proposed system is demonstrated at the lake Biwa in Japan using the test-bed AUV the "Twin-Burger 2" available at the University of Tokyo. The proposed AUV system is capable of moving autonomously to predetermined locations carrying different kinds of sensing equipment for lake survey and sensors for navigation. In this system, the predetermined path of the AUV is marked by laying an underwater cable. At the lake Biwa the Twin-Burger 2 successfully followed the cable while collecting information on the environment. In situations where the cable was lost from the image a search algorithm was activated and if not recovered the vehicle will come to the surface.
关键词:  Lake Biwa  AUV  Cable tracking  lake's survey
DOI:10.18307/1998.sup60
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基金项目:
AUVs in Lake Observation
B. A. A. P. Balasuriya, Tamaki Ura
Institute of Industrial Science, University of Tokyo, Japan
Abstract:
This paper proposed the use of Autonomous Underwater Vehicles (AUVs) for lake observation. The performance of the proposed system is demonstrated at the lake Biwa in Japan using the test-bed AUV the "Twin-Burger 2" available at the University of Tokyo. The proposed AUV system is capable of moving autonomously to predetermined locations carrying different kinds of sensing equipment for lake survey and sensors for navigation. In this system, the predetermined path of the AUV is marked by laying an underwater cable. At the lake Biwa the Twin-Burger 2 successfully followed the cable while collecting information on the environment. In situations where the cable was lost from the image a search algorithm was activated and if not recovered the vehicle will come to the surface.
Key words:  Lake Biwa  AUV  Cable tracking  lake's survey
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