Coordination of autonomous underwater vehicles for acoustic image acquisition

ABSTRACT

Underwater Acoustic Sensor Networks (UW-ASNs) consist of stationary sensors or Autonomous Underwater Vehicles (AUVs) like propeller-driven vehicles and gliders that are equipped with sensors for performing collaborative monitoring tasks. In this paper, a task optimization framework for image acquisition using a fleet of underwater gliders and AUVs is proposed. The objective of the framework is to form the best possible team and to find the optimal trajectory to reach the selected target object. In this paper, the use of a team of underwater gliders and AUVs for acquiring still images of underwater objects is envisaged. Research specific to this area has been limited. Hence, a framework based on energy minimization for a team of gliders to complete the mission in given time bound is proposed. Further, performance of propeller-driven AUVs and gliders is compared to prove the energy efficiency of the gliders over AUVs for missions with large time bound.

REFERENCES

• 1: I. F. Akyildiz, D. Pompili, and T. Melodia. Underwater Acoustic Sensor Networks: Research Challenges. Ad Hoc Networks (Elsevier), 3(3):257--279, May 2005.
• 2: R. Bachmayer, N. E. Leonard, E. F. J. Graver, P. Bhatta, and D. Paley. Underwater Gliders: Recent Development and Future Applications. In IEEE International Symposium on Underwater Technology (UT), pages 195--200, Taipei, Taiwan, Apr. 2004.
• 3: Department of Navy Science and Technology. AUVSI/ONR Engineering Primer Document for the Autonomous Underwater Vehicle (AUV) Team Competition.
• 4: Donna M. Kocak and Frank M. Caimi. The Current Art of Underwater Imaging With a Glimpse of the Past and Vision of the Future. Marine Technology Society Journal, 39(3), 2005.
• 5: C. C. Eriksen, T. J. Osse, R. D. Light, T. Wen, T. W. Lehman, P. L. Sabin, J. W. Ballard, and A. M. Chiodi. Seaglider: A Long-Range Autonomus Underwater Vehicle for Oceanographic Research. IEEE Journal of Ocean Engineering, 26(4):424--436, Oct. 2001.
• 6: Jerry L. Sutton. Underwater Acoustic Imaging. In Proceedings of IEEE, volume 67, 1979.
• 7: John P. Fish. SOUND UNDERWATER IMAGES A Guide to The Generation and Interpretation of Side Scan Sonar Data. Lower Cape Publishing, 1990.
• 8: Josuha Grady Graver. Underwater Gliders: Dynamics, Control and Design. For the degree of doctor of philosophy, Princeton University, May 2005.
• 9: W. H. Key. Side Scan Sonar Technology. OCEANS 2000 MTS/IEEE Conference and Exhibition, 2:1029--1033, 2000.
• 10: T. Melodia, D. Pompili, and I. F. Akyildiz. A Communication Architecture for Mobile Wireless Sensor and Actor Networks. In IEEE Conference on Sensor and Ad Hoc Communications and Networks (SECON), volume 1, pages 109--118, Reston, VA, Sept. 2006.
• 11: Tommaso Melodia , Dario Pompili , Vehbi C. Gungor , Ian F. Akyildiz, Communication and Coordination in Wireless Sensor and Actor Networks, IEEE Transactions on Mobile Computing, v.6 n.10, p.1116-1129, October 2007 [doi>10.1109/TMC.2007.1009]

INDEX TERMS

Primary Classification:
  C. Computer Systems Organization
  C.2 COMPUTER-COMMUNICATION NETWORKS
      C.2.1 Network Architecture and Design
          Subjects: Distributed networks

General Terms:
Algorithms, Design, Performance

Keywords:
autonomous vehicles, task allocation, underwater acoustic sensor networks