In mobile robotics, trajectory planning research has focussed on wheeled robots moving on surfaces equipped with high rate communication modules. The underwater environment is much more demanding: it is difficult to communicate because of low bandwidth channels undersea; it is prone to currents; and the three dimensional workspace may be worldwide. Moreover, torpedo-like vehicles are strongly nonholonomic.
The current state of technology allows many laboratories such as the Oceans Systems Laboratory to move forward in the development of AUVs. The need for a reliable cognition process for finding a feasible trajectory derived from underwater imagery is important.
Was this article helpful?