Abstract
The changes of the marine environment which are caused by natural factors and human activities greatly affect the subsea cables. Routine inspection and maintenance for subsea cables are in demand. In this paper, a subsea cable detection and tracking system is discussed which depends on the passive magnetic sensing approach. The route information of subsea cable is detected by a tri-axial electromagnetic arrays and an altimeter which are mounted in the autonomous underwater vehicle (AUV) symmetrically. Based on the detection result, the cable detection and inspection mission is elaborately constructed as a classic path following control problem. The line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the reference path. And the cable tracking control strategy for the AUV in three-dimensional (3D) space is proposed, in which the LOS guidance, feedback linearization technique are adopted. The feasibility of the method is proved by numerical simulation results.
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