PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.

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Underwater acoustic navigation with the WHOI micro-modem

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Sandipa Singh, Matthew Grund, Brian Bingham, Ryan Eustice, Hanumant Singh and Lee Freitag, Underwater acoustic navigation with the WHOI micro-modem. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-4, Boston, MA, USA, September 2006.

Abstract

The WHOI Micro-Modem is a compact, low-power acoustic transceiver that can provide both acoustic telemetry and navigation. Its size and versatility make it ideal for integration in autonomous underwater vehicles (AUVs). The modem supports the use of both broadband and narrowband transponders for long baseline navigation systems, has a modem-to-modem ranging capability, and can be configured to provide synchronous one-way ranging, when integrated with a precision clock. This paper gives an overview of the different navigation systems supported by the Micromodem and presents the results from field tests conducted on the SeaBED AUV in deployments in Greece, the Bluefin AUV, and whale localizations in the Stellwagen Bank Marine Sanctuary.

Bibtex entry

@INPROCEEDINGS { ssingh-2006a,
    AUTHOR = { Sandipa Singh and Matthew Grund and Brian Bingham and Ryan Eustice and Hanumant Singh and Lee Freitag },
    TITLE = { Underwater acoustic navigation with the {WHOI} micro-modem },
    BOOKTITLE = { Proceedings of the IEEE/MTS OCEANS Conference and Exhibition },
    YEAR = { 2006 },
    MONTH = { September },
    ADDRESS = { Boston, MA, USA },
    PAGES = { 1--4 },
}