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Coordenação de veículo de inspecção subaquática com veículo de superfície autónomo
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Advisor(s)
Abstract(s)
O LSA/ISEP(Laboratório de sistemas Autónomos do Instituto Superior de Engenharia
do Porto) tem vindo nos últimos anos a desenvolver sistemas robóticos inovadores para
operação em ambiente marinho sendo o veículo de superfície autónomo ROAZ II um exemplo
de renome internacional. Neste contexto, e tendo em vista a satisfação dos requisitos
parciais conducentes à obtenção do grau de Mestre em Eng. Electrotécnica e de Computadores
- Ramo de Sistemas Autónomos do ISEP, o presente trabalho visou a integração de
um robô submarino operado remotamente (ROV) com o robô de superfície ROAZ II. Esta
solução inovadora de operação coordenada e integrada de um ASV/ROV permite dotar o
ASV de mobilidade e visão subaquática. Após a caracterização e análise de requisitos de
diversos cenários operacionais foi apresentada uma arquitectura de controlo coordenado
dos dois veículos baseada em manobras de controlo descritas por autómatos híbridos. Os
dois veículos foram modelados e as manobras coordenadas projectadas foram validadas
com um simulador em ambiente Matlab/Simulink. Foi desenvolvido um sistema de localização relativa do ROV através da fusão sensorial de um sistema INS com um sistema
acústico USBL utilizando um filtro EKF. O veículo ROV (VideoRay) do LSA foi instrumentado
com os sensores necessários e efectuada a integração de hardware e software com
o ASV ROAZ II permitindo a operação remota. Foi realizada uma missão demonstrativa
de inspecção de pilares subaquáticos em cenário real com a operação conjunta dos dois
robôs.
The LSA/ISEP has been developing innovative robotic systems for marine environment operations, the ROAZ II is an example of international reputation. In this scope, and taking care the satisfaction of the partial requirements to obtain a Master Degree in Eng. Electrot ecnica e de Computadores - Ramo de Sistemas Aut onomos, this work focus on the integration of a underwater remotely operated vehicle with a surface vehicle ROAZ II. This innovative operating solution in a coordinated and integrated ASV/ROV allows the ASV to have mobility and underwater vision. After the characterization and requirement of the multiple in operational scenario, a coordinated control architecture based on a hybrid automata has been presented. The two vehicle were modeled a coordinated maneuvers were projected and validated using a simulator in Matlab/Simulink environment. A relative localization system has been developed in each the data fusion of the INS and USBL is an EKF. The VideoRay vehicle was instrumented with the necessary equipment in order to integrate the Hardware and software with the ROAZ II. We performed a demonstration mission for inspection of underwater pillars in real scenario for the joint operation of two robots.
The LSA/ISEP has been developing innovative robotic systems for marine environment operations, the ROAZ II is an example of international reputation. In this scope, and taking care the satisfaction of the partial requirements to obtain a Master Degree in Eng. Electrot ecnica e de Computadores - Ramo de Sistemas Aut onomos, this work focus on the integration of a underwater remotely operated vehicle with a surface vehicle ROAZ II. This innovative operating solution in a coordinated and integrated ASV/ROV allows the ASV to have mobility and underwater vision. After the characterization and requirement of the multiple in operational scenario, a coordinated control architecture based on a hybrid automata has been presented. The two vehicle were modeled a coordinated maneuvers were projected and validated using a simulator in Matlab/Simulink environment. A relative localization system has been developed in each the data fusion of the INS and USBL is an EKF. The VideoRay vehicle was instrumented with the necessary equipment in order to integrate the Hardware and software with the ROAZ II. We performed a demonstration mission for inspection of underwater pillars in real scenario for the joint operation of two robots.
Description
Keywords
ROV ASV INS USBL KALMAN Movimento coordenado Coordenated movement
Pedagogical Context
Citation
Publisher
Instituto Politécnico do Porto. Instituto Superior de Engenharia do Porto