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The International Journal of Robotics Research
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Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle

Dana R. Yoerger

MS7 Blake Bldg, Woods Hole Oceanographic Insitution Woods Hole, MA 02543 USA, dyoerger{at}whoi.edu

Michael Jakuba

MS7 Blake Bldg, Woods Hole Oceanographic Insitution Woods Hole, MA 02543, USA

Albert M. Bradley

MS7 Blake Bldg, Woods Hole Oceanographic Insitution Woods Hole, MA 02543 USA

Brian Bingham

Franklin W. Olin College of Engineering, Needham, MA 02492, USA

This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.

Key Words: AUV • long baseline acoustic navigation • terrain-following • automated nested survey • hydrothermal vent discovery

The International Journal of Robotics Research, Vol. 26, No. 1, 41-54 (2007)
DOI: 10.1177/0278364907073773
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