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It is still hard mission for human divers or robotic systems to investigate complex underwater environments, composed of several turning points and rooms. This paper explains a design of the Autonomous Underwater Vehicle (AUV) for marking physical and visible path logs in water. Then, it will make the repeated exploration easier. For the solution of underwater marking, we chose to use paraffin wax...
This paper proposes the use of path planning algorithms for AUVs in applications where the robot needs to adapt online its trajectory for inspection or safety purposes. These algorithms generate trajectories under motion constraints, which can be followed without deviations, to ensure the safety even when passing close to obstacles. View planning algorithms are also combined to decide the movements...
Underwater Object Localization is widely used in the industry in Autonomous Underwater Vehicles (AUV), both in sea and lake environments for various applications. Sonars and Cameras are popular choices for this, but each sensor alone poses several problems. Data extraction from Optical Cameras underwater is a challenge due to poor lighting conditions, hazing over large distances and spatio-temporal...
Emerging concept of the so-called intelligent space (IS) offers means for use of mobile autonomous devices like vehicles or robots in a very broad area without necessity for these devices to own all necessary sensors. From this reason also new navigation methods are developing, which utilize IS means, with the aim to offer maybe not so accurate but first of all cheep and reliable solutions for a wide...
CMRE has been evaluating the potential of autonomous networked ASW using underwater vehicles through a program of sonar signal processing, underwater communications, navigation and robotic behavior developments and at-sea decision support tested through an ambitious seagoing experimental program and demonstrated during NATO ASW exercises. In this paper the various scientific aspects of the program...
The MORPH project (FP 7, 2012–2016) advances a novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that allow a limited flow of information among them. Without rigid links, the so called Morph Supra-Vehicle can reconfigure...
An Autonomous Underwater Vehicle (AUV) needs to demonstrate a number of capabilities, in order to carry on autonomous missions with success. One of the key areas is correctly understanding the surrounding environment. However, most of the state-of-the-art approaches in labelling world information are based on the analysis of a single frame, whilst - especially in scenarios where the vehicle interact...
An application for offline Reinforcement Learning in the underwater domain is proposed. We present and evaluate the integration of the Q-learning algorithm into an Autonomous Underwater Vehicle (AUV) for learning the action-value function in simulation. Three separate experiments are presented. The first compares two search policies: the ε - least visited, and random action, with respect to convergence...
In this paper, we propose a sweeping sonar obstacle avoidance method for autonomous navigation of mobile robots. The sweeping of the single sonar module using a motorized stage increase the coverage and reduce the electronics for ultrasonic modules. The orientation of the vehicle is determined using digital compass. The battery status is continuously monitored and fed back to the operator. Wireless...
This paper presents an overview of our research on accounting for robot pose uncertainty in area coverage applications. In the vast majority of existing literature on robotics area coverage, the location uncertainty of the robot is not considered. An uncertain robot pose results in an uncertain sensor swath, which in turn creates uncertainty about the achieved coverage. Here, we present a general...
This paper presents the results of multi-national collaboration during the sea trial held in the coastal waters of La Spezia, Italy, in the period 17 Oct. – 07 Nov. 2012. The trial was performed as one of the objectives of the program which has a goal to achieve the entire chain of Mine Countermeasures (MCM) using unmanned, robotic platforms. The focus of activities in this sea trial was to perform...
We present a seabed profile estimation and following method for surveying complex underwater structures in close proximity, enabling high-resolution data acquisition. The proposed method goes beyond traditional seabed following at a safe altitude, and exploits hovering-capable autonomous underwater vehicles (AUVs) equipped with a range sensing sonar to follow complex structure profiles in the vertical...
Sonar and odometer sensors were developed and integrated into the Simulation Environment for Autonomous Robots (SEAR). These new sensors were then validated against a standard simulator, ROSStage as well as on an actual iRobot Create robot using Robot Operating System (ROS). In each simulator, an environment was created to match the real-world test environment. Measurements from the sensors were recorded...
This paper is presented in the context of the TRIDENT European project. The paper proposes a path planning approach that uses homotopy classes to guide the path search in bathymetric maps. First, it turns the bathymetry into a 2D workspace. Then, it builds a topological environment based on the workspace to compute homotopy classes, which topologically describe how paths go through the obstacles in...
JAMSTEC has been developing two-type autonomous underwater vehicles (AUVs): a cruising AUV and a working AUV, since last October. These vehicles will perform carbon dioxide (CO2) observations and hydrothermal plume exploration up to depth of 3,000 meters. The cruising AUV (about 4 m long, 2 tons in weight) is equipped with three major observation devices: a multi-beam echo sounder, side-scan sonar,...
This work considers the re-design of an autonomous underwater vehicle (AUV) in which an innovative, neurobiological inspired sensorization control system is being implemented. Hardware architecture and sensorization control software are being developed to allow autonomous navigation procedures for submarine vehicles. After the refurbishment of the vehicle and the update of its control system, the...
In this study, a novel robot control framework is presented for multiple autonomous underwater vehicles. In this framework, we incorporate sonar sensor data and integrated navigation system position data in a simulation environment, called UNBeatable-Sim, where complex control behaviors can be executed and analyzed. UNBeatable-Sim is developed by the COllaboration Based Robotics and Automation (COBRA)...
Autonomous Underwater Vehicle (AUV) are moving to a new phase with the development of light intervention systems. New vehicles will be equipped with lightweight manipulators and operate around subsea infrastructures. One of the key capabilities to safely perform such mission is robust and accurate autonomous localisation, i.e. the ability for the AUV to estimate correctly its position and orientation...
This paper present the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller...
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