Abstract
Due to the particularity of the jacket structure of offshore platforms and the complexity of the marine environment, there have been few effective localization and autonomous control methods for underwater robots that are designed for cleaning tasks. To improve this situation, a fusion bat algorithm (BA) online optimized fuzzy control method using vision localization was developed based on the constraints of the underwater operational environment. Vision localization was achieved based on images from a catadioptric panoramic imaging system. The features of the pipe edge and the boundary of the area covered by biofouling were obtained by image processing and feature extraction. The feature point chosen as the “highest” point of the boundary was calculated by projection transformation to generate the reference path. The specialized fuzzy controller was designed to drive the robot to track the reference path, and an improved bat algorithm with dynamic inertia weight and differential evolution method was developed to optimize the scale factors of the fuzzy controller online. The control method was simulated and further implemented on an underwater pipe-cleaning robot (UPCR), and the results indicate its rationality and validity.
Highlights
Offshore platforms play an important role in marine resource exploitation, and jackets made of steel pipes are essential structural supports for oil rigs
underwater pipe-cleaning robot (UPCR) following following the the boundary of an area covered by biofouling, which were simulated by shells and paint on in the boundary of an area covered by biofouling, which were simulated by shells and paint aonpipe a pipe in laboratory
This paper describes a new online optimized fuzzy control method a UPCR based on vision localization
Summary
Offshore platforms play an important role in marine resource exploitation, and jackets made of steel pipes are essential structural supports for oil rigs. It is essential to replace manual labor by underwater robots. In recent years, climbing robots have been developed for industrial applications, especially in the area of cleaning underwater structures [3,4]. These robots utilize propulsion force adhesion [5,6,7,8], magnetic force adhesion [9,10], and clamping [11] to achieve stable locomotion and withstand the counterforce brought on by cleaning operations. All of them focused only on locomotion, adaptation, or the cleaning method, which are the basic functions of climbing robots used for cleaning
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