Autonomous Pipeline Tracking Using Bernoulli Filter for Unmanned Underwater Surveys

Vibhav Bharti,Sen Wang,Vibhav Bharti,Sen Wang

Inspection of subsea pipelines is crucial for avoiding any hazards and minimizing the risks to infrastructure and the environment. These inspections are achieved using Autonomous Underwater Vehicles (AUVs) in favour of reduced operational costs. This work presents a vehicle agnostic approach for tracking subsea pipelines at close-range for autonomous guidance along the pipeline using an AUV. A mul...