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Autonomous detection, following and mapping of an underwater chain using sonar

Following 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 sonar as a primary perception sensor to enable the vehicle operation in limited visibility conditions and overcome the possible turbidity arising during marine growth removal. Despite its advantages, working with acoustic data raises additional challenges for the processing and control methodologies involved. We present two chain link detectors that make use of forward-looking sonar and multibeam data and we combine them with adequate planning and control strategies to achieve a robust framework to detect, follow and map an underwater chain. Experiments conducted in a water tank and in a real harbor environment demonstrate the capability of autonomously detecting and following a chain with sufficient accuracy to perform subsequent cleaning or inspection tasks. Besides this, we demonstrate the possibility of obtaining a preliminary map of the chain and its surroundings regardless of visibility conditions

This work was supported by the EU funded project PANDORA: Persistent Autonomy through learNing, aDaptation, Observation and ReplAnning”, ref. FP7-288273

© Ocean Engineering, 2017, vol. 130, p.336-350

Elsevier

Autor: Hurtós Vilarnau, Natàlia
Palomeras Rovira, Narcís
Carrera Viñas, Arnau
Carreras Pérez, Marc
Data: 15 gener 2017
Resum: Following 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 sonar as a primary perception sensor to enable the vehicle operation in limited visibility conditions and overcome the possible turbidity arising during marine growth removal. Despite its advantages, working with acoustic data raises additional challenges for the processing and control methodologies involved. We present two chain link detectors that make use of forward-looking sonar and multibeam data and we combine them with adequate planning and control strategies to achieve a robust framework to detect, follow and map an underwater chain. Experiments conducted in a water tank and in a real harbor environment demonstrate the capability of autonomously detecting and following a chain with sufficient accuracy to perform subsequent cleaning or inspection tasks. Besides this, we demonstrate the possibility of obtaining a preliminary map of the chain and its surroundings regardless of visibility conditions
This work was supported by the EU funded project PANDORA: Persistent Autonomy through learNing, aDaptation, Observation and ReplAnning”, ref. FP7-288273
Format: application/pdf
Cita: https://doi.org/10.1016/j.oceaneng.2016.11.072
ISSN: 0029-8018
Accés al document: http://hdl.handle.net/10256/14122
Llenguatge: eng
Editor: Elsevier
Col·lecció: Reproducció digital del document publicat a: https://doi.org/10.1016/j.oceaneng.2016.11.072
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288273
És part de: © Ocean Engineering, 2017, vol. 130, p.336-350
Drets: Tots els drets reservats
Matèria: Vehicles submergibles
Submersibles
Robots submarins
Underwater robots
Sonar (Navegació)
Sonar
Títol: Autonomous detection, following and mapping of an underwater chain using sonar
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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