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

Roman Śmierzchalski; Maciej Kapczyński

doi:10.2478/pomr-2022-0043

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.

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Authors (2)

Roman Śmierzchalski prof. dr hab. inż.
Maciej Kapczyński mgr inż.

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Category:

Articles

Type:

artykuły w czasopismach

Published in:

Polish Maritime Research pages 45 - 55,
ISSN: 1233-2585

Language:

English

Publication year:

2022

Bibliographic description:

Śmierzchalski R., Kapczyński M.: Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle// Polish Maritime Research -,iss. 4 (2022), s.45-55

DOI: