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<p>The article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with a stationary obstacle. The control of the collision avoidance process is presented as a synthesis of fuzzy proportional-differential controllers for the control of distance and orientation concerning the detected stationary obstacle. The control of the submergence depth of the underwater vehicle has been adopted as a separate control flow. A method to obtain the main motion parameters of the underwater vehicle relative to the detected stationary obstacle using a Laser-based Vision System (LVS) and a pressure sensor coupled to an Inertial Measurement Unit (IMU) is described and discussed. The result of computer implementation of the designed fuzzy controllers for collision avoidance is demonstrated in simulation tests and experiments carried out with the mini ROV in the test pool.</p>
</abstract>

The article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with a stationary obstacle. The control of the collision avoidance process is presented as a synthesis of fuzzy proportional-differential controllers for the control of distance and orientation concerning the detected stationary obstacle. The control of the submergence depth of the underwater vehicle has been adopted as a separate control flow. A method to obtain the main motion parameters of the underwater vehicle relative to the detected stationary obstacle using a Laser-based Vision System (LVS) and a pressure sensor coupled to an Inertial Measurement Unit (IMU) is described and discussed. The result of computer implementation of the designed fuzzy controllers for collision avoidance is demonstrated in simulation tests and experiments carried out with the mini ROV in the test pool.

Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Polish Maritime Research

This work is licensed under the Creative Commons Attribution 4.0 International License.

The article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision...

Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Publié en ligne: 21 déc. 2022

Pages: 45 - 55

DOI: https://doi.org/10.2478/pomr-2022-0043

Mots clés
underwater vehicle, mini-ROV, collision avoidance, stationary obstacles, fuzzy logic, laser-based vision system

© 2022 Roman Śmierzchalski et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Publié en ligne: 21 déc. 2022

Pages: 45 - 55

DOI: https://doi.org/10.2478/pomr-2022-0043

Mots clésunderwater vehicle, mini-ROV, collision avoidance, stationary obstacles, fuzzy logic, laser-based vision system

© 2022 Roman Śmierzchalski et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Mots clés
underwater vehicle, mini-ROV, collision avoidance, stationary obstacles, fuzzy logic, laser-based vision system