Perseus AUV: Towards Linear Convoying of Agile A-Sized AUVs Through Acoustic Track-and-Trail
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IROS_2023_Rypkema_Randeni_CameraReady.pdf
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Published version
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4.99 MB
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Author(s)
Rypkema, Nicholas R.
Randeni, Supun
Sacarny, Michael
Benjamin, Michael
Triantafyllou, Michael
Date Issued
October 1, 2023
Publisher
IEEE
Citation
N. R. Rypkema, S. Randeni, M. Sacarny, M. Benjamin and M. Triantafyllou, "Perseus AUV: Towards Linear Convoying of Agile A-Sized AUVs Through Acoustic Track-and-Trail," 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 6206-6213, doi: 10.1109/IROS55552.2023.10341835.
Version
Author's final manuscript
Abstract
We present the Perseus autonomous underwater vehicle (AUV) - an A-sized a a A-size stands for the standard sonobuoy [2] form factor, with a maximum diameter of 124 mm and a length of around 0.9 m, ensuring the ability to launch from standard sonobuoy launchers onboard a wide array of fixed wing and rotary wing air crafts, surface ships and submarines [3] micro AUV, outfitted with a low-cost passive inverted ultra-short baseline (piUSBL) acoustic reception system, which allows it to acoustically track-and-trail a leader vehicle that carries an acoustic transmission source. With a long-term goal of linear convoying of multiple A-sized AUVs, in this work, we used an unmanned surface vehicle (USV) towing an acoustic source, as a proxy for a lead AUV, demonstrating that the Perseus AUV is able to successfully track-and-trail a leader vehicle. The AUV was also outfitted with a tuna-inspired morphing fin mechanism that allowed the vehicle to achieve good directional stability as well as good maneuverability; properties that are useful for linear convoying AUVs, but are presently difficult to achieve because they impose contradictory requirements. We demonstrated this system with real-world, in-water experiments in the Charles river, Massachusetts, USA.
Description
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Woods Hole Oceanographic Institution
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Creative Commons Attribution-Noncommercial-ShareAlike
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DOI of Published Version
https://doi.org/10.1109/iros55552.2023.10341835
