Collaborative Visual Seafloor Imaging using a Photographic AUV and a Lagrangian Imaging Float

High resolution seafloor imaging from mobile autonomous platforms has become a valuable tool for habitat classification, stock assessment and seafloor exploration. This abstract addresses the concept of joint seafloor survey planning using both navigable and drifting platforms, and presents results from an experiment using a bottom surveying AUV and a drifting Lagrangian camera float. We consider two classes of vehicles; one which is able to self propel and execute structured surveys, and one which is Lagrangian and moves only with the currents. The navigable vehicle is the more capable and the more expensives asset of the two. The Lagrangian platforms is a low cost imaging tool that can actively control its altitude above the seafloor to obtain high quality images but can not otherwise control its trajectory over the bottom. When used together the vehicles offer several scenarios for joint operations. When used in an exploratory manner the Lagrangian float is an inexpensive way to collect images from an unknown area. Depending on the collected images, a follow on structured survey with the navigable AUV can collect additional information if the cost is acceptable given the need and prior data. When used simultaneously the drifting float can guide the AUV trajectory over an area. When both platforms are equipped with acoustic tracking and communications the AUV trajectory can be automatically redirected to follow the Lagrangian float using one of many patterns. This capability allows for surveys that are potentially more representative of the near bottom oceanographic conditions at the desired location. Results will be presented from a cruise to Scott Reef, Australia, where both platforms were used as part of a coral habitat monitoring project.