Proxy Platform for Underwater Inspection, Maintenance, and Repair

Timothy P. Osedach, Kurran Singh, Pedro Vaz Texeira, Jean Baptiste Arber, Alexandre Levesque, Clement Chahbazian, Darshan Jain, Brendan Englot, John J. Leonard, Stephane Vannuffelen, Sepand Ossia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2020 Global Oceans 2020
Subtitle of host publicationSingapore - U.S. Gulf Coast
ISBN (Electronic)9781728154466
DOIs
StatePublished - 5 Oct 2020
Event2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020 - Biloxi, United States
Duration: 5 Oct 202030 Oct 2020

Publication series

Name2020 Global Oceans 2020: Singapore - U.S. Gulf Coast

Conference

Conference2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020
Country/TerritoryUnited States
CityBiloxi
Period5/10/2030/10/20

Keywords

  • AUV
  • ROV
  • SLAM
  • multibeam sonar

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