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Advisor(s)
Abstract(s)
It is well-known that ROVs require human intervention
to guarantee the success of their assignment, as well as the
equipment safety. However, as its teleoperation is quite complex
to perform, there is a need for assisted teleoperation. This study
aims to take on this challenge by developing vision-based assisted
teleoperation maneuvers, since a standard camera is present in
any ROV. The proposed approach is a visual servoing solution,
that allows the user to select between several standard image
processing methods and is applied to a 3-DOF ROV. The most
interesting characteristic of the presented system is the exclusive
use of the camera data to improve the teleoperation of an
underactuated ROV. It is demonstrated through the comparison
and evaluation of standard implementations of different vision
methods and the execution of simple maneuvers to acquire
experimental results, that the teleoperation of a small ROV can
be drastically improved without the need to install additional
sensors.
Description
Keywords
3-DOF IBVS ROV Assisted teleoperation Inspection Pipeline Visual servoing
Citation
Publisher
IEEE