遥控水下航行器
水下
控制系统
遥控车辆
工程类
海洋工程
控制工程
介入式水下机器人
海洋观测
计算机科学
机器人
移动机器人
人工智能
汽车工程
海洋学
物理
气象学
电气工程
地质学
作者
Henning Odeby Karlsen,Herman B. Amundsen,Walter Caharija,Martin Ludvigsen
标识
DOI:10.23919/oceans44145.2021.9705676
摘要
This paper proposes a mission control system for a remotely operated vehicle (ROV) such that it is capable of performing an autonomous underwater inspection operation within aquaculture. The proposed autonomous mission control system combines the classical Guidance, Navigation, and Control architecture (GNC) with a hybrid mission control architecture. The logic flow within the autonomous mission control system is visualized via a finite state machine (FSM). The proposed mission control system was implemented on an Argus Mini ROV and verified in simulations using the FhSim framework. Furthermore, the autonomous mission control system was successfully tested at SINTEF ACE, a full-scale industrial fish farm laboratory located off the coast of mid-Norway. During the experiments, the ROV performed an autonomous inspection of a net pen using a Doppler velocity log (DVL). The autonomous mission control system was able to handle loss of sensor measurements through reactive behavior. Furthermore, using deliberative behavior, the mission control system attempted to keep track of and manage the autonomous net inspection task. During the trials the system suffered from inaccurate estimates of the net-relative position of the ROV.
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