A virtual environment-based system for the navigation of underwater robots

Abstract

Efficient teleoperation of underwater robot requires clear 3D visual information of the robot's spatial location and its surrounding environment. However, the performance of existing telepresence systems is far from satisfactory. In this paper, we present our virtual te/epresence system for assisting tele-operation of an underwater robot, This virtual environment-based telepresence system transforrns robot sensor data into 3D synthetic visual information of the workplace based on its geometrical model, it provides the operators with a full perception of the robot's spatial location. In addition, we propose a robot safety domain to overcome the robot's location offset in the virtual environment caused by its sensor errors, The software design of the system and how a safety domain can be used to overcome robot location offset in virtual environment will be examined. Experimental tests and its result analysis will also be presented in this paper.

On Applying Virtual Reality to Underwater Robot Tele-Operation and Pilot Training

“…Figure 4 shows the test results of X-boundary of the safety domain. Y-and Z-boundary tests have similar results, see reference [31] for details.…”

Virtual Reality and Oceanography: Overview, Applications, and Perspective

“…Early utilization of VR for ocean exploration focused on remotely operated vehicle (ROV) navigation, and these efforts demonstrated the utility of VR for increasing ROV pilot situational awareness in harsh, low-visibility environments (Hine et al, 1994;Fleischer et al, 1995;Stoker et al, 1995;Lin and Kuo, 1998). Fast forward over 25 years, this concept has seen vast technological refinement with the application of off-theshelf VR components, including HMDs, such as the Oculus Rift, and improved haptic devices, which add a greater field of view, faster head tracking, and more intuitive feedbacks for the remote control of the ROV manipulator arm (Lynch and Ellery, 2014;Candeloro et al, 2015).…”

Active Research Topics in Human Machine Interfaces

“…The proposed solution uses a 3D viewing model augmented by the image of an onboard CCD camera. [Lin & Kuo 1998] describes a virtual environment-based system for the navigation of underwater robots.…”