Active sonar-based bottom-following for unmanned underwater vehicles

The problem of high-precision bottom-following in the proximity of the seab ed for open-frame unmanned underwater vehicles (UUVs) is addressed in this paper. The suggested approach consists of the integration of a guidance and control system with an active multi-hypothesis extended Kalman filter, abl e to estimate the motion of the vehicle with respect to the bottom profile. The guidance module is based on the definition of a suitable Lyapunov func tion associated with the bottom-following task, while the motion controller is a conventional autopilot, performing autoheading, autodepth, and autosp eed. The motion of the vehicle is estimated from range and bearing measurem ents supplied by a high-frequency pencil-beam profiling sonar. Moreover, a general-purpose sensor-based guidance and control system for advanced UUVs, able to manage active sensing-based guidance and motion estimation modules , is presented. An application of the proposed architecture to execute high -precision bottom-following using Romeo, a prototype UUV, developed by the Robotics Dept. of the Istituto Automazione Navale, is described. Experiment al results of tests, conducted in a high-diving pool with the vehicle equip ped with a sonar profiler; are presented. (C) 1999 Published by Elsevier Sc ience Ltd. All rights reserved.