Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Abstract

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.

Design, Modelling, And Simulation Of Biomimetic Underwater Vehicle

“…Last, but not least, an area of research is vehicle autonomy. Appropriate algorithms should be implemented, including restrictions of a new path calculation time and avoidance collision algorithm implementation, such as a short time of a new path calculation [23], [10], [9] .…”

Selection of the Depth Controller for the Biomimetic Underwater Vehicle

“…One of the fields is underwater robots, where we can distinguish between ROV (Remote Operated Vehicle) and AUV (Autonomous Underwater Vehicle). Vehicles based on ROV technology, which dates back to the 1960s, have been ideally developed and are successfully used in all kinds of underwater operations [1][2][3]. A significant limitation of the mobility of these vehicles is the use of cable tether, which leads scientists and engineers to develop AUVs [4].…”