Virtual Mooring Buoy “ABA” for Multiple Autonomous Underwater Vehicles Operation | Zendy

Yuya Nishida | Zendy; Junichi Kojima | Zendy; Yuzuru Itoh | Zendy; Kenkichi Tamura | Zendy; Harumi Sugimatsu | Zendy; Kangsoo Kim | Zendy; Taku Sudo | Zendy; Tamaki Ura | Zendy

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Virtual Mooring Buoy “ABA” for Multiple Autonomous Underwater Vehicles Operation

Author(s) -

Yuya Nishida,

Junichi Kojima,

Yuzuru Itoh,

Kenkichi Tamura,

Harumi Sugimatsu,

Kangsoo Kim,

Taku Sudo,

Tamaki Ura

Publication year - 2016

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2016.p0086

Subject(s) - buoy , mooring , underwater , marine engineering , seafloor spreading , remotely operated underwater vehicle , engineering , computer science , geology , oceanography , robot , artificial intelligence , mobile robot

[abstFig src='/00280001/09.jpg' width=""300"" text='Virtual Mooring Buoy ""ABA""' ]We developed a virtual mooring buoy, called an autonomous buoy “ABA” for AUV, which navigates the sea using thrusters in 2014. Its purpose was to deploy autonomous underwater vehicles (AUVs) effectively in seafloor exploration. The ABA tracks and positions AUVs operating underwater using onboard acoustic positioning. We have deployed the ABA with two type AUVs in seafloor exploration. That conducted in February 2015 used the ABA with one AUV to survey and inventory mineral deposits, demonstrating the ABA’s capability of positioning an AUV navigating at 1,370–1,550 m depths at a standard deviation of 100 m or less and tracking it while maintaining a horizontal distance of 50 m or less. The ABA navigated the AUV within a position error of about 10 m.

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