Creating Bathymetric Maps Using AUVs in the Magdalena River
AbstractThe goal is to develop a guidance and navigation algorithm for an AUV to perform high resolution scanning of the constantly changing river bed of the Magdalena River, the main river of Colombia, from the river mouth to a distance of 10 Km upriver, which is considered to be the riskiest section to navigate. Using geometric control we design the required thrust for an under-actuated autonomous underwater vehicle to realize the desired mission.
ANDONIAN, M., CAZZARO, L.,INVERNIZZI, L, and CHYBA, M. Geometric Control for Autonomous Underwater Vehicles: Overcoming a Th ruster Failure. IEEE Conference on Decisions and Control. Atlanta, GA. 2010.
BULLO, F. and LEWIS, A. Geometric Control of Mechanical Systems, Texts in Applied Mathematics, Springer, ISBN 0-387-22195-6, 2004.
DUNBABIN, M., ROBERTS, J., USHER, K., WINSTANLEY, G., and CORKE, P. A Hybrid AUV Design for Shallow Water Reef Navigation. IEEE. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain. 2005.
MINISTRY OF TRANSPORTATION, Ofi cina Asesora de Planeacion, Grupo de Planifi cacion Sectorial, Diagnóstico del Sector Transporte, 2008. http://www.mintransporte.gov.co/ Servicios/Estadisticas/home.htm.
PRESTERO, T. Verifi cation of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle. Master’s thesis. Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, Joint Program in Applied Ocean Science and Engineering. 2001.
SLOCUM. http://www.webbresearch.com/ slocumglider.aspx
SMITH, R. and CHYBA, M. Trajectory Design for Autonomous Underwater Vehicle for Basin Exploration. 8th International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Budapest 2009.
SMITH, R., CHYBA, M., WILKENS, G., and CATONE, C. A Geometrical Approach to the Motion Planning Problem for a Submerged Rigid Body. International Journal of Control, Vol. 82/9, pp. 1641 -1656, 2009.
How to Cite
The authors who publish in this Journal certify that:
- The work submitted for publication in The Ship Science and Technology journal, was written by the author, given that its content is the product of his/her direct intellectual contribution.
- All data and references to material already published are duly identified with their respective credits and are included in the bibliographic notes and quotations highlighted as such.
- All materials submitted for publication are completely free of copyrights; consequently, the author accepts responsibility for any lawsuit or claim related with Intellectual Property Rights thereof, Exonerating of responsibility to The Science and Technology for the Development of Naval, Maritime, and Riverine Industry Corporation, COTECMAR.
- In the event that the article is chosen for publication by The Ship Science and Technology journal, the author state that he/she totally transfers reproduction rights of such to The Science and Technology for the Development of Naval, Maritime, and Riverine Industry Corporation, COTECMAR.
- The authors retain the copyright and transfer to COTECMAR the right of publication and reproduction of the work which will be simultaneously subject to the Creative Commons Attribution License (CC -BY) , which allows the license to copy, distribute, display and represent the work and to make derivative works as long as it recognizes and cites the work in the manner specified by the author or licensor.
- For more information about the Creative Commons Attribution License (CC -BY) and his use and scope, please visit the following web page https://creativecommons.org/licenses/by-sa/4.0/legalcode