Design and Performance of Odyssey IV: A Deep Ocean Hover-Capable AUV
Name
MITSG_09-08.pdf
Size
2.55 MB
Format
Adobe PDF
Checksum (MD5)
816baa26700d835d877d1f5100ca0d69
Author(s)
Eskesen, Justin
Owens, Dylan
Soroka, Michael
Morash, Jim
Hover, Franz S.
Chryssostomidis, Chryssostomos
Date Issued
2009
Publisher
Massachusetts Institute of Technology. Sea Grant College Program
Series/Report no.
MIT Sea Grant Technical Reports;MITSG 09-08
Abstract
The Odyssey IV class AUV was designed to fill the evolving needs of research and industry for a deep rated (6000 meter) vehicle, which is capable of both efficient cruising and precise hovering. This AUV is powerful enough to reject currents typical in the open ocean environment and yet small enough to be deployed from a small fishing boat. The thruster layout, two vectored side thrusters and two fixed cross-body thrusters, allow for 4-DOF control, which gives this vehicle precision and flexibility not possible in previous Odyssey class AUVs. An adaptable payload area allows the mounting of sensors, actuators, or other hardware suitable to a particular mission. The dynamic control layer of our behavior-based MOOS software was completely redesigned to take advantage of the capabilities of this vehicle. This is also the first platform to utilize new graphical controls and database-driven logging which increase operator efficiency and make the vehicle safer to operate. Odyssey IV's intended uses include survey and inspection of cold water corals, fisheries, archaeological sites, and subsea infrastructure. It will also serve as a research platform for computer vision-based servoing and acoustic supervisory control. This paper will document the design considerations and implementation of the Odyssey IV, as well as report on a series of field tests culminating in its first scientific deployment at Georges Bank, observing and mapping the invasive tunicate Didemnum.
MIT Department
Massachusetts Institute of Technology. Sea Grant College Program
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