AUTOTRACKER: AUV embedded control architecture for autonomous pipeline and cable tracking

Jonathan Evans, Yvan Petillot, Paul Redmond, Mark Wilson, David Lane

Research output: Contribution to journalArticle

27 Citations (Scopus)

Abstract

This paper concentrates on one probably most commercially significant AUV applications: Embedded Cable and Pipeline Tracking. A modular approach to this problem has been adopted as the AUTOTRACKER project. The research and development is partially funded by the European Union and companies within the offshore industry. The system is being demonstrated and evaluated on real offshore pipelines and cables using a commercial Survey-AUV. This paper describes AUTOTRACKER's modular, distributed software architecture. It then outlines the sensor and processing techniques used for real-time control of the AUV to perform tracking and obstacle avoidance. In addition, details of the system tests and practical trials used in the development process are outlined.

Original languageEnglish
Pages (from-to)2651-2658
Number of pages8
JournalOceans Conference Record
Volume5
Publication statusPublished - 2003
EventCelebrating the Past... Teaming Toward the Future - San Diego, CA., United States
Duration: 22 Sep 200326 Sep 2003

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