Short range full ocean depth underwater precision 6DOF position/motion tracker for autonomous manipulation

摘要

This paper presents the study of an underwater position sensor for autonomous robotic manipulation in AUV. Based on ultrasonic technology, the goal is to acquire the generalized position (rotation and translation) of the target with the necessary accuracy required by a generic real-time intervention task. The ultrasonic tracker utilizes high frequency sound waves to track a small probe by the triangulation of several transmitters and receivers: this method is inspired to a combination of time-of-flight measurements and phase detection in order to increase the accuracy. Experimental tests have been performed using the robotic manipulator of SAUVIM, a Semi-Autonomous Underwater Vehicle for Intervention Missions.