| Volume 26 Issue 1 - Publication Date: 1 January 2007 |
| Special Issue: The 12th International Symposium on Robotics
Research |
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| Techniques for Deep Sea Near
Bottom Survey Using an Autonomous Underwater Vehicle |
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| D.R. Yoerger, M. Jakuba,
A. M. Bradley MS7 Blake Bldg, Woods Hole Oceanographic Insitution,
Woods Hole, MA 02543 USA and B. Bingham Franklin W. Olin College
of Engineering, Needham, MA 02492, USA |
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| 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. |
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