AUV Behavior Algorithm While Inspecting of Partly Visible Pipeline

摘要

The questions of motion planning of the autonomous underwater vehicle (AUV) during inspection of underwater pipelines are considered in the paper. The data of onboard distance-measuring acoustic devices (echo-sounding system) are used for pipeline identification and subsequent AUV motion planning. Current and gathered information about terrain and also known geometrical parameters of the pipeline are used for determination of the pipeline position at each moment of time. Modeling results of proposed inspection algorithm are discussed.