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Sonar-based chain following using an autonomous underwater vehicle

Tracking an underwater chain using an autonomous vehicle can be a first step towards more efficient solutions for cleaning and inspecting mooring chains. We propose to use a forward looking sonar as a primary perception sensor to enable the vehicle operation in limited visibility conditions and overcome the turbidity arisen during marine growth removal. Despite its advantages, working with acoustic imagery raises additional challenges to the involved image processing and control methodologies. In this paper we present a robust framework to perform chain following, combining perception, planning and control disciplines. We first introduce a detection system that exploits the sonar’s high frame rate and applies local pattern matching to handle the complexity of detecting link chains in acoustic images. Then, a planning system deals with the dispersed detections and determines the link waypoints that the vehicle should reach. Finally, the vehicle is guided through these waypoints using a high level controller that has been tailored to simultaneously traverse the chain and keep track of upcoming links. Experiments on real data demonstrate the capability of autonomously follow a chain with sufficient accuracy to perform subsequent cleaning or inspection tasks

This work was supported by the EU funded project PANDORA: Persistent Autonomy through learNing, aDaptation, Observation and ReplAnning”, FP7-288273, and the Spanish Project ANDREA/RAIMON (Ref CTM2011-29691-C02-02) funded by the Ministry of Science and Innovation

© IEEE International Conference on Intelligent Robots and Systems, 2014, p. 1978-1983

Institute of Electrical and Electronics Engineers (IEEE)

Autor: Hurtós Vilarnau, Natàlia
Palomeras Rovira, Narcís
Carrera Viñas, Arnau
Carreras Pérez, Marc
Bechlioulis, Charalampos P.
Karras, George C.
Hesmati-Alamdari, Shahab
Kyriakopoulos, Kostas
Data: 2014
Resum: Tracking an underwater chain using an autonomous vehicle can be a first step towards more efficient solutions for cleaning and inspecting mooring chains. We propose to use a forward looking sonar as a primary perception sensor to enable the vehicle operation in limited visibility conditions and overcome the turbidity arisen during marine growth removal. Despite its advantages, working with acoustic imagery raises additional challenges to the involved image processing and control methodologies. In this paper we present a robust framework to perform chain following, combining perception, planning and control disciplines. We first introduce a detection system that exploits the sonar’s high frame rate and applies local pattern matching to handle the complexity of detecting link chains in acoustic images. Then, a planning system deals with the dispersed detections and determines the link waypoints that the vehicle should reach. Finally, the vehicle is guided through these waypoints using a high level controller that has been tailored to simultaneously traverse the chain and keep track of upcoming links. Experiments on real data demonstrate the capability of autonomously follow a chain with sufficient accuracy to perform subsequent cleaning or inspection tasks
This work was supported by the EU funded project PANDORA: Persistent Autonomy through learNing, aDaptation, Observation and ReplAnning”, FP7-288273, and the Spanish Project ANDREA/RAIMON (Ref CTM2011-29691-C02-02) funded by the Ministry of Science and Innovation
Format: application/pdf
ISSN: 2153-0858
Accés al document: http://hdl.handle.net/10256/11630
Llenguatge: eng
Editor: Institute of Electrical and Electronics Engineers (IEEE)
Col·lecció: MICINN/PN 2012-2014/CTM2011-29691-C02-02
Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2014.6942825
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288273
És part de: © IEEE International Conference on Intelligent Robots and Systems, 2014, p. 1978-1983
Drets: Tots els drets reservats
Matèria: Robots submarins
Underwater robots
Vehicles submergibles
Submersibles
Sonar (Navegació)
Títol: Sonar-based chain following using an autonomous underwater vehicle
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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