Autonomous control of the underwater remotely operated vehicle in collision situation with stationary obstacle

• Autorzy: Śmierzchalski Roman , Kapczyński Maciej

Identyfikatory

DOI

10.2478/pomr-2022-0043

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

underwater vehicle; mini-ROV; collision avoidance; stationary obstacles; fuzzy logic; laser-based vision system

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2022
• Tom: nr 4
• Strony: 45--55
• Opis fizyczny: Bibliogr. 30 poz., rys., tab.

Twórcy

autor

Śmierzchalski Roman

• Gdansk University of Technology Poland

• https://orcid.org/0000-0001-8984-344X

autor

Kapczyński Maciej

• Mode S.A. Poland

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).