Autonomous movement of obsea underwater crawler for monitoring underwater environments
This paper presents the development and operational strategy of the OBSEA autonomous underwater crawler designed for continuous environmental monitoring. The crawler operates within a triangular configuration of three predefined objects in a laboratory environment. It performs sequential navigation...
| Autores: | , , , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2025 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/452132 |
| Acceso en línea: | https://hdl.handle.net/2117/452132 https://dx.doi.org/10.5821/iwp.2025.24.14002 |
| Access Level: | acceso abierto |
| Palabra clave: | Oceanography -- Research Oceanography -- Equipment and supplies Autonomous underwater vehicles Submarines (Ships) Underwater monitoring Underwater robot Custom object tracking Underwater crawler Remotely Operated Vehicle (ROV) Autonomous Underwater Vehicle (AUV) Internet Operated Vehicles (IOV) Oceanografia -- Investigació Oceanografia -- Aparells i instruments Vehicles submergibles autònoms Submarins Àrees temàtiques de la UPC::Enginyeria civil::Geologia::Oceanografia Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This paper presents the development and operational strategy of the OBSEA autonomous underwater crawler designed for continuous environmental monitoring. The crawler operates within a triangular configuration of three predefined objects in a laboratory environment. It performs sequential navigation and monitoring tasks by approaching each object in a looped pattern to ensure comprehensive environmental coverage. Due to Obsea autonomous underwater crawler tethered nature, the crawler adopts a bidirectional traversal method to prevent cable entanglement. Using this approach ensures efficient and uninterrupted monitoring of underwater ecosystems. |
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