Abstract
Remotely operated vehicles (ROV) and Autonomous underwater vehicles (AUV) are increasingly being used for a large spectrum of maritime tasks for which human intervention is either dangerous or impossible. In case of complex tasks such as detailed inspection, difficult environment or even budget shortage, AUV may not be suitable. On the other hand dealing with repetitive actions or having to constantly react to obstacles may be excessively tiring for the ROV operator. In this paper we describe a low-cost Laser-based obstacle sensor which combined with the camera image allow the ROV to autonomously react without the intervention of the operator and even blocking his commands. In order for the ROV to take control, a C++ software was developed to receive ROV sensors data, process it and send commands using the same serial communications port the operator uses. All the calculations related to the Laser sensor are performed by a Matlab program whose results are shared with the former program. Tests were carried out in a swimming pool and the semi-autonomous ROV performed satisfactorily and efficiently.
Highlights
Operated vehicles (ROV) and Autonomous underwater vehicles (AUV) are increasingly being used for a large spectrum of maritime tasks for which human intervention is either dangerous or impossible such as marine life survey, ocean scanning of physical parameters, sea bed evaluation, wreckage inspection or archaeological research
Remotely operated vehicles (ROV) may be difficult to operate by a single operator in very complex environments or even impossible such as in the case of poor visibility, multiple sensorial paradigm or obstacle diversity
Semi-autonomous ROVs seem to be a good option to overcome difficulties for both vehicle types. In this poster we describe the implementation and underwater tests of a vision-based system for an inspection-class ROV [1], designed to afford the vehicle with semi-autonomous navigation capabilities
Summary
Operated vehicles (ROV) and Autonomous underwater vehicles (AUV) are increasingly being used for a large spectrum of maritime tasks for which human intervention is either dangerous or impossible such as marine life survey, ocean scanning of physical parameters, sea bed evaluation, wreckage inspection or archaeological research. The proposed instrumentation set-up consists of a slant-looking Laser [2, 3, 4] and an in-water calibrated video camera whose data is processed in realtime, allowing the ROV to detect the vicinity and measure distances to obstacles. The previously measured correspondence between y and Distance (Laser calibration) will provide this value.
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