Autonomous docking for Intervention-AUVs using sonar and video-based real-time 3D pose estimation

Evans, Jonathan; Redmond, Paul; Plakas, Costas; Hamilton, K.; Lane, David M.

doi:10.1109/oceans.2003.178243

Cited by 118 publications

(71 citation statements)

References 2 publications

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“…Analysis of existing docking systems [1][2][3] allowed to identify two steps of UV docking with underwater station (see Fig. 1): 1.…”

Section: Development Of General Control Algorithm For Uv Docking Withmentioning

confidence: 99%

Development of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

Gurenko¹,

Beresnev²

2015

MATEC Web of Conferences

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Abstract. Underwater vehicles (UV) are widely spread nowadays. Their efficient application requires accompanying base ships or net of stations for technical servicing. Fast and energy-efficient docking is one of the key requirements for trouble-free operation. In this paper authors describe the research and development of algorithms for UV control system that allows docking with underwater station. The process is divided in two steps: moving to docking zone and vehicle positioning of station. First task includes development of path regulator. The proposed one features separation of control channels for simple adjustment and gives best results when multicoupling influence is low. Second task was solved on the basis of UV mathematical model. Developed control values were tested in simulation and proved themselves to be efficient. Authors give results of coordinate changes, control force modifications and deviation of velocity and orientation angles from the required values.

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“…Analysis of existing docking systems [1][2][3] allowed to identify two steps of UV docking with underwater station (see Fig. 1): 1.…”

Section: Development Of General Control Algorithm For Uv Docking Withmentioning

confidence: 99%

Development of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

Gurenko¹,

Beresnev²

2015

MATEC Web of Conferences

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“…next step towards a fully autonomous intervention system for subsea panels was achieved with the ALIVE project by [6]. It demonstrated the capability of autonomously docking into a ROV-friendly panel using hydraulic grabs.…”

Section: Introductionmentioning

confidence: 99%

I-AUV Mechatronics Integration for the TRIDENT FP7 Project

Ribas

Ridao

Turetta

et al. 2015

IEEE/ASME Trans. Mechatron.

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Abstract-Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept.This article describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.

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“…For this reason, some research projects have been focused in building new systems to solve the different kinds of intervention autonomously. The project ALIVE (2001-04) [1] developed an underwater intervention AUV. The AUV autonomously docked to a subsea infrastructure using an hydraulic gripper and once attached it manipulated a valve panel.…”

Section: Introductionmentioning

confidence: 99%

An Intervention-AUV learns how to perform an underwater valve turning

Carrera

Palomeras

Ribas

et al. 2014

Oceans 2014 - Taipei

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Abstract-Intervention autonomous underwater vehicles (IAUVs) are a promising platform to perform intervention task in underwater environments, replacing current methods like remotely operate underwater vehicles (ROVs) and manned submersibles that are more expensive. This article proposes a complete system including all the necessary elements to perform a valve turning task using an I-AUV. The knowledge of an operator to perform the task is transmitted to an I-AUV by a learning by demonstration (LbD) algorithm. The algorithm learns the trajectory of the vehicle and the end-effector to accomplish the valve turning. The method has shown its feasibility in a controlled environment repeating the learned task with different valves and configurations.

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Autonomous docking for Intervention-AUVs using sonar and video-based real-time 3D pose estimation

Cited by 118 publications

References 2 publications

Development of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

Development of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

I-AUV Mechatronics Integration for the TRIDENT FP7 Project

An Intervention-AUV learns how to perform an underwater valve turning

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