Ship Hull Inspection by Hull-Relative Navigation and Control

J. Vaganay, M.L. Elkins, S. Willcox, F.S. Hover, R.S. Damus, S. Desset, J.P. Morash, V.C. Polidoro
Proceedings of OCEANS 2005 MTS/IEEE  
MIT and Bluefin Robotics designed the Hovering Autonomous Underwater Vehicle with a focus on ship hull inspection missions for Anti-Terrorism and Force Protection. Our hull-relative navigation and control are primarily based on a Doppler Velocity Log that the vehicle keeps pointed normal to the hull by means of a tilt actuator. A Dual Frequency Identification Sonar (DIDSON) is used to inspect the hull. The sonar is mounted on a separate tilt actuator in order to control the grazing angle
more » ... e to the hull. The vehicle has been successfully tested on the decommissioned heavy cruiser "USS Salem (CA 139)". The results of a demonstration to the US Navy are reported in this paper.
doi:10.1109/oceans.2005.1639844 fatcat:7v7trlqkwjc3zeormidoc5krs4