Research and Engineering Design of a Microcomputer Controlled Unmanned Free Swimming Vehicle

摘要

Three years ago the U.S. Geological Survey, through the intermediary of NOSC, initiated studies for the development of technology related to unmanned, untethered vehicles for offshore inspection purposes. The Geological Survey is charged with responsibility relating to the safety, as well as the environmental consequences, of pipelines and structures in the Coastal Zone. Since many of the locations requiring inspection imply danger for human divers, and pose a threat of entanglement for tethered vehicles, studies of technologies related to the ultimate development of autonomous vehicles to replace tethered vehicles in some work environments were initiated. The Project Report for 1978 - 1979 describes the development of the system through the completion of the pipeline follower testing. This report continues with the modification of the vehicle system from a mission of pipeline following to structural inspection.