UNDERWATER POLE INSPECTION USING TWO MICRO AUVS
DOI:
https://doi.org/10.11113/jt.v74.4818Keywords:
Underwater pole inspection, cooperative AUVAbstract
This article describes the strategy to use two Autonomous Underwater Vehicles (AUVs) in underwater pole inspection work. They are called vehicle A and vehicle B. Vehicle A will surround the pole in counter clockwise direction whereas vehicle B will surround the pole in clockwise direction until the two vehicles meet. Then they will dive a certain distance and continuous surrounding the pole in opposite direction. The mechanical design of both vehicle A and vehicle B are exactly the same. The only different between them is vehicle A will make use of higher capability of underwater navigation and tracking system. Therefore, vehicle A is functioning as lead vehicle. Vehicle A and vehicle B will communicate with each other periodically for control signal dissemination and positioning error. This article also mention about the prototype design of vehicle A And vehicle B. Some preliminary result of proposed pole inspection system is also included in this article.
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