|Title||Bottom Following for Survey Class Autonomous Underwater Vehicles|
|Publication Type||Conference Paper|
|Year of Publication||1995|
|Authors||Bennett AB, Leonard JJ, Bellingham JG|
|Conference Name||Proc Int Symp on Unmanned Untethered Submersible Technology|
Bottom-following, or maintaining a fixed altitude above an arbitrary surface, is important for underwater vehicles particularly those that survey large geographic areas. This feature is necessary for numerous tasks, including side-scan sonar mapping, photographic surveys, magnetic surveys and maneuvering in and around both manmade and natural structures. Current research at the MIT AUV Laboratory, starting with the simplest bottom-follower and moving through multiple iteration with successive improvemetns, is described. Along with results from various field tests with autonomous underwater vehicles, the paper presents findings from several simulations.