A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles
This article introduces a control architecture designed for the development of Hybrid Remotely Operated Underwater Vehicles. The term ”Hybrid” characterizes Remotely Operated systems capable of autonomously executing specific operations. The presented architecture maintains teleoperation capabilitie...
| Autores: | , , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universidad de Huelva (UHU) |
| Repositorio: | Arias Montano. Repositorio Institucional de la Universidad de Huelva |
| Idioma: | inglés |
| OAI Identifier: | oai:ariasmontano.uhu.es:10272/22860 |
| Acceso en línea: | https://hdl.handle.net/10272/22860 |
| Access Level: | acceso abierto |
| Palabra clave: | Hybrid Remotely Operated Underwater Vehicles Reactive navigation Control architecture Underwater operations 31 Ciencias Agrarias |
| Sumario: | This article introduces a control architecture designed for the development of Hybrid Remotely Operated Underwater Vehicles. The term ”Hybrid” characterizes Remotely Operated systems capable of autonomously executing specific operations. The presented architecture maintains teleoperation capabilities while enabling two fully autonomous applications. The approach emphasizes the implementation of reactive navigation by exclusively utilizing data from a Mechanical Scanned Imaging Sonar for control decisions. This mandates the control system to solely react to data derived from the vehicle’s environment, without considering other positioning information or state estimation. The study involves transforming a small-scale commercial Remotely Operated Underwater Vehicle into a hybrid system without structural modifications, and details the development of an intermediate Operational Control Layer responsible for sensor data processing and task execution control. Two practical applications, inspired by tasks common in natural or open-water aquaculture farms, are explored: one for conducting transects, facilitating monitoring and maintenance operations, and another for navigating toward an object for inspection purposes. Experimental results validate the feasibility and effectiveness of the authors’ hypotheses. This approach expands the potential applications of underwater vehicles and facilitates the development of Hybrid Remotely Operated Underwater Vehicles, enabling the execution of autonomous reactive tasks. |
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