Sea Mining Exploration With an UVMS: Experimental Validation of the Control and Perception Framework

Simetti, Enrico; Campos, Ricard; Vito, Daniele Di; Quintana, Josep; Antonelli, Gianluca; García, Rafael; Turetta, Alessio

doi:10.1109/tmech.2020.3025973

Cited by 30 publications

(10 citation statements)

References 16 publications

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“…A priority-based control to integrate inequality control objectives and task transitions is presented in [39], displaying how inequality control objectives could be well defined within the task priority framework without causing any discontinuities. This was further expanded in the MARIS, DexROV, and ROBUST projects [40][41][42][43]. The work in [44] shows the capabilities of the task priority framework in the cooperative control of multiple underwater manipulators where a cooperative transportation scenario is considered (the same strategy has been demonstrated with ground mobile manipulators showing experimental results in [45]).…”

Section: Introductionmentioning

confidence: 91%

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A Unifying Task Priority Approach for Autonomous Underwater Vehicles Integrating Homing and Docking Maneuvers

Thomas

Simetti

Casalino

2021

JMSE

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This research proposes a unified guidance and control framework for Autonomous Underwater Vehicles (AUVs) based on the task priority control approach, incorporating various behaviors such as path following, terrain following, obstacle avoidance, as well as homing and docking to stationary and moving stations. The integration of homing and docking maneuvers into the task priority framework is thus a novel contribution of this paper. This integration allows, for example, to execute homing maneuvers close to uneven seafloor or obstacles, ensuring the safety of the AUV, as safety tasks can be given the highest priority. Furthermore, another contribution shown in the paper is that the proposed approach tackles a wide range of scenarios without ad hoc solutions. Indeed, the proposed approach is well suited for both the emerging trend of resident AUVs, which stay underwater for a long period inside garage stations, exiting to perform inspection and maintenance missions and homing back to them, and for AUVs that are required to dock to moving stations such as surface vehicles, or towed docking stations. The proposed techniques are studied in a simulation setting, taking into account the rich number of aforementioned scenarios.

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Section: Introductionmentioning

confidence: 91%

“…At the end of the above iterative process, the desired final system velocity vector isν = ρ N . This can also be further extended to vehicles with manipulators [40][41][42][43][44][45].…”

Section: Task Priority Framework and Definitionsmentioning

confidence: 99%

A Unifying Task Priority Approach for Autonomous Underwater Vehicles Integrating Homing and Docking Maneuvers

Thomas

Simetti

Casalino

2021

JMSE

Self Cite

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“…Jaffe et al (2017), . All these challenges emphasize the necessity of fully autonomous systems equipped with cutting-edge/intelligent ORCID(s): capabilities to explore and exploit underwater environments Simetti et al (2021a).…”

Section: Introduction and Related Work 1contextmentioning

confidence: 99%

A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

Tijjani

Chemori

Creuze

2022

Annual Reviews in Control

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“…Compared with autonomous UVMS which is immature and has a higher risk of loss, remote-controlled UVMS develops an intelligent control system on the basis of ROV to achieve semiautonomous type underwater operations often appear to be both economical and realistic. e remote control UVMS only needs the operator to send the underwater operation task to the UVMS, and the actual operation can be coordinated by the underwater robot to complete the underwater operation task, and has the functions of autonomous navigation, autonomous obstacle avoidance, and autonomous operation [9,10].…”

Section: Introductionmentioning

confidence: 99%

Research on Adaptive Sliding Mode Control of UVMS Based on Nonlinear Disturbance Observation

Chen

Wei

Zhang

et al. 2022

Mathematical Problems in Engineering

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The underwater vehicle manipulator system is a powerful tool for the exploration and development of marine resources. Due to the complexity of the marine environment, there are many disturbance factors and difficult to control. Taking the fixed depth control in hovering mode as an example, the vertical plane decoupling control model is established, and the adaptive sliding mode control method based on the disturbance observation is studied. The nonlinear disturbance observation is used to estimate the external unknown disturbance in real time, and the adaptive sliding mode method is used for compensation control. Simulation results show that the control method can effectively compensate for the sudden disturbance term, does not produce obvious trim motion, has strong robustness, and provides a reliable and stable base for the operation of the underwater manipulators. Finally, the operation experiments in the pool and real sea area under the disturbance condition are carried out, respectively. The experimental results show that the control effect is good and the stability is greatly improved compared with the traditional control method.

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Sea Mining Exploration With an UVMS: Experimental Validation of the Control and Perception Framework

Cited by 30 publications

References 16 publications

A Unifying Task Priority Approach for Autonomous Underwater Vehicles Integrating Homing and Docking Maneuvers

A Unifying Task Priority Approach for Autonomous Underwater Vehicles Integrating Homing and Docking Maneuvers

A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

Research on Adaptive Sliding Mode Control of UVMS Based on Nonlinear Disturbance Observation

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