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Publisher DOI: 10.3390/s20216203
Title: Localisation of unmanned underwater vehicles (UUVs) in complex and confined environments : a review
Language: English
Authors: Watson, Simon 
Dücker, Daniel-André  
Groves, Keir 
Keywords: unmanned underwater vehicle (UUV); localisation; complex environments
Issue Date: 30-Oct-2020
Publisher: Multidisciplinary Digital Publishing Institute
Source: Sensors 20 (21): 6203 (2020)
Abstract (english): 
The inspection of aquatic environments is a challenging activity, which is made more difficult if the environment is complex or confined, such as those that are found in nuclear storage facilities and accident sites, marinas and boatyards, liquid storage tanks, or flooded tunnels and sewers. Human inspections of these environments are often dangerous or infeasible, so remote inspection using unmanned underwater vehicles (UUVs) is used. Due to access restrictions and environmental limitations, such as low illumination levels, turbidity, and a lack of salient features, traditional localisation systems that have been developed for use in large bodies of water cannot be used. This means that UUV capabilities are severely restricted to manually controlled low-quality visual inspections, generating non-geospatially located data. The localisation of UUVs in these environments would enable the autonomous behaviour and the development of accurate maps. This article presents a review of the state-of-the-art in localisation technologies for these environments and identifies areas of future research to overcome the challenges posed.
DOI: 10.15480/882.3071
ISSN: 1424-8220
Journal: Sensors 
Other Identifiers: doi: 10.3390/s20216203
Institute: Mechanik und Meerestechnik M-13 
Document Type: Article
More Funding information: UK Research and Innovation (UKRI)
License: CC BY 4.0 (Attribution) CC BY 4.0 (Attribution)
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