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Abstract

The Deepwater Horizon oil spill accident (April2010) in the Gulf of Mexico released an unprecedentedamount of crude oil, much of which was trapped around1000m below the surface. The accident has attractedworldwide attention and promoted many autonomousunderwater vehicles (AUV) projects. The principal objectiveof our project is to establish a Backseat Driver controlarchitecture for an AUV to monitor undissolvable marinepollutants. Our scope of work focuses on validating a newmethod to manoeuvre and control an AUV by implementingthe Missions Oriented Operating Suite (MOOS-IvP)Backseat Driver system that was newly integrated on theMemorial University of Newfoundland (MUN) Explorer AUV.A Ping360 scanning sonar, as the main in-situ sensor, wasintegrated with the vehicle. This enabled a capability tosurvey horizontal sectors up to 360° and ranges up-to 50mfrom the AUV in real-time to evaluate information of sonarreflections from objects surrounding the vehicle without ahuman-operator-in-the-loop. We validated the capability ofthis intelligent Backseat Driving control through three setsof field experiments that were conducted in October –November 2020 in Newfoundland, Canada. 

Item Type:	Article
Authors/Creators:	Hwang, J and Bose, N and Millar, G and Gillard, AB and Nguyen, HD and Williams, G
Keywords:	autonomous underwater vehicle, marine pollutants, oil plume delineation, underwater acoustic detection, backseat driver control, MOOS-IvP
Journal or Publication Title:	International Journal of Mechanical Engineering and Robotics Research
Publisher:	International Journal of Mechanical Engineering and Robotics Research
ISSN:	2278-0149
DOI / ID Number:	10.18178/ijmerr.10.6.292-300
Copyright Information:	© 2021 Int. J. Mech. Eng. Rob. Res. Published under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
Related URLs:	UTAS Profile: Bose, N Google Scholar: Nguyen, HD UTAS Profile: Nguyen, HD Google Scholar: Williams, G UTAS Profile: Williams, G
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