Considerations on the low-altitude operations of the cruising-type AUV Gondou for seafloor photographic surveys.

Abstract

The Japan Coast Guard AUV Gondou is a cruising-type autonomous underwater vehicle. The Gondou is equipped with a downward-looking camera system that potentially unveils detailed seafloor feature from a different perspective than acoustic observations. As the Gondou is designed to run at relatively high-speed for wide-range seafloor mapping, the vehicle has limited maneuverability in horizontal and vertical directions. These operational characteristics of the vehicle require careful considerations in the design of mission planning and predetermination of contingency avoiding behaviors. This technical report notes our operational efforts to conduct seafloor photographic surveys with the cruising-type AUV.