Underwater Vehicle Trajectory Control Using Seafloor Topography
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Solution Overview
Problem
Underwater vehicles face challenges in navigating through unpredictable seabed environments, leading to potential collisions with obstacles, which can result in equipment loss, safety issues, and environmental damage.
Innovation Solution
A method for controlling underwater vehicles that involves obtaining a topography of the underwater region, predicting the vehicle's trajectory, deriving a relationship between the trajectory and the seafloor, and adjusting the vehicle's path in real-time to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If human operators manually control underwater vehicles in real-time, then flexibility and adaptability to unexpected conditions are improved, but response time is increased and human resources are consumed
Solution Approach 1:
The system performs preliminary actions by pre-mapping the seabed environment and storing topographic data before the underwater vehicle begins its mission. This advance preparation enables the automatic control system to quickly reference known environmental data during real-time operation, eliminating the need for manual real-time analysis and reducing response time while maintaining adaptability to unexpected conditions.
Solution Approach 2:
The patent introduces an automatic control system as an intermediary between the underwater vehicle and human operators. This intermediary continuously monitors vehicle position, compares it with pre-stored topographic data, and automatically adjusts the trajectory to avoid obstacles. This intermediary layer enables rapid automated responses while reducing the need for direct human intervention, thus decreasing response time while maintaining adaptability.
2Reliability
If human operators manually monitor and adjust the trajectory of underwater vehicles, then collision avoidance capability is improved, but operational cost and complexity are increased
Solution Approach 1:
The underwater vehicle system performs self-service by automatically monitoring its own position, comparing it with pre-stored topographic data, and adjusting its trajectory without continuous human intervention. The automatic control system independently processes sensor data, identifies potential collisions, and executes avoidance maneuvers, thereby maintaining high collision avoidance capability while significantly reducing operational complexity and human resource requirements.
Solution Approach 2:
The system implements continuous feedback loops where sensors monitor the vehicle's position and orientation, the control system compares this data with pre-stored topographic information, and automatic adjustments are made to the trajectory. This closed-loop feedback mechanism ensures reliable collision avoidance by constantly monitoring and correcting the vehicle's path, while the automation of this process reduces operational complexity compared to manual monitoring.
3Manufacturing precision
If bathymetry data is collected before the dive for mission planning, then the AUV can predict optimal height and adjust trajectory, but the system lacks real-time adaptability to unexpected obstacles
Solution Approach 1:
The patent merges pre-collected bathymetry data with real-time sensor data from the underwater vehicle's own sensors. The system combines the advance knowledge of seabed topography with live environmental observations, enabling both accurate trajectory prediction based on planned data and real-time adaptability to unexpected obstacles through continuous sensor feedback and automatic control adjustments.
Solution Approach 2:
The system transitions from static pre-planned trajectories to dynamic real-time trajectory adjustment. While bathymetry data provides a static baseline for optimal height prediction, the automatic control system dynamically adjusts the trajectory based on real-time sensor data and actual environmental conditions, enabling the vehicle to adapt to unexpected obstacles while maintaining the precision benefits of pre-planned routing.
Data Source
AI summary
A method for controlling an underwater vehicle moving along a travel trajectory is disclosed. The movement of the underwater vehicle is dependent on a vessel physically connected thereto. The method is performed by a processor and comprises the steps of: obtaining a topography of an underwater region where the underwater vehicle travels; obtaining a predicted trajectory of the underwater vehicle; deriving a relationship between the predicted trajectory of the underwater vehicle and a seafloor represented by the topography of the underwater region; and controlling the underwater vehicle based on the determined relationship; wherein the topography of the underwater region is linkable to a coordinate system of the travel trajectory of the underwater vehicle. Unlocking insights from Geo-Data, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.