AUV bathymetric mapping depth planning for bottom following splice linear programming algorithm

We collaborated with the Monterey Bay Aquarium Research Institute (MBARI) to improve the depth control algorithm used by the Dorado class autonomous underwater vehicle (AUV) in conducting bathymetric surveys and other remote sensing tasks. The algorithm enables better bottom following by planning for the depth profile that follows the desired depth best, while pulling up safely for bathymetry. The algorithm allows the AUV to operate closer to the sea floor and in more variable submarine conditions. Deployment tests demonstrated improved AUV performance in a bathymetrically complex area three miles off shore in Monterey Bay, and highlighted areas where further research and development can enhance AUV operation.