A survey of underwater areas using a group of AUVs

摘要

Side scan sonar (SSS) is an effective search device for detection of the bottom objects and monitoring of underwater areas using an autonomous underwater vehicle (AUV). Automatic monitoring consists in search operation using SSS and subsequent survey of objects using photo-camera. In the case of a single AUV these steps are performed sequentially. For the AUV group these steps can be performed in parallel mode to reduce the time required for the monitoring. Detection of the particular objects on the acoustic images is performed using the next steps: gradient maps reconstruction, edges detection and objects classification using clustering procedures. Then coordinates are determined for the objects with particular characteristics. These coordinates are used to organize photo-observation of the detected objects by the same or another AUV (in the case of group work). Modeling of the monitoring process was performed using information, control and simulation system integrated in the AUV. All algorithms were realized as software modules suitable for use in AUV. The simulation results show the possibility of application of the developed algorithms for the real work.