{"title":"Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle","authors":"R. Smierzchalski, Maciej Kapczyński","doi":"10.2478/pomr-2022-0043","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0000,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Polish Maritime Research","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.2478/pomr-2022-0043","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MARINE","Score":null,"Total":0}
引用次数: 1
Abstract
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.
期刊介绍：
The scope of the journal covers selected issues related to all phases of product lifecycle and corresponding technologies for offshore floating and fixed structures and their components.
All researchers are invited to submit their original papers for peer review and publications related to methods of the design; production and manufacturing; maintenance and operational processes of such technical items as:
all types of vessels and their equipment,
fixed and floating offshore units and their components,
autonomous underwater vehicle (AUV) and remotely operated vehicle (ROV).
We welcome submissions from these fields in the following technical topics:
ship hydrodynamics: buoyancy and stability; ship resistance and propulsion, etc.,
structural integrity of ship and offshore unit structures: materials; welding; fatigue and fracture, etc.,
marine equipment: ship and offshore unit power plants: overboarding equipment; etc.
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