TY - GEN
T1 - Proxy Platform for Underwater Inspection, Maintenance, and Repair
AU - Osedach, Timothy P.
AU - Singh, Kurran
AU - Texeira, Pedro Vaz
AU - Arber, Jean Baptiste
AU - Levesque, Alexandre
AU - Chahbazian, Clement
AU - Jain, Darshan
AU - Englot, Brendan
AU - Leonard, John J.
AU - Vannuffelen, Stephane
AU - Ossia, Sepand
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/5
Y1 - 2020/10/5
N2 - We describe the development of a custom ROV/AUV platform that is designed to facilitate cost-effective experimental research and development in the domains of underwater navigation, perception, and autonomy. Key aspects of the vehicle are that it is lightweight (i.e. man-portable), easily reconfigurable, and instrumented with a suite of navigation and perception sensors to proxy the configuration of a state-of-the-art hovering AUV. Fully equipped, the vehicle weighs 25 kg. A 3D mapping functionality based on the use of a multibeam imaging sonar is described. Results from testing in an indoor pool as well an outdoor river setting are presented. Finally, limitations of the proxy platform are reviewed with an emphasis on the impact of navigation sensor drift and lever arm displacement error. A preliminary implementation of sonar-based simultaneous localization and mapping (SLAM) is described, representing an approach to overcome these limitations.
AB - We describe the development of a custom ROV/AUV platform that is designed to facilitate cost-effective experimental research and development in the domains of underwater navigation, perception, and autonomy. Key aspects of the vehicle are that it is lightweight (i.e. man-portable), easily reconfigurable, and instrumented with a suite of navigation and perception sensors to proxy the configuration of a state-of-the-art hovering AUV. Fully equipped, the vehicle weighs 25 kg. A 3D mapping functionality based on the use of a multibeam imaging sonar is described. Results from testing in an indoor pool as well an outdoor river setting are presented. Finally, limitations of the proxy platform are reviewed with an emphasis on the impact of navigation sensor drift and lever arm displacement error. A preliminary implementation of sonar-based simultaneous localization and mapping (SLAM) is described, representing an approach to overcome these limitations.
KW - AUV
KW - ROV
KW - SLAM
KW - multibeam sonar
UR - http://www.scopus.com/inward/record.url?scp=85104679195&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85104679195&partnerID=8YFLogxK
U2 - 10.1109/IEEECONF38699.2020.9389148
DO - 10.1109/IEEECONF38699.2020.9389148
M3 - Conference contribution
AN - SCOPUS:85104679195
T3 - 2020 Global Oceans 2020: Singapore - U.S. Gulf Coast
BT - 2020 Global Oceans 2020
T2 - 2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020
Y2 - 5 October 2020 through 30 October 2020
ER -