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Path Following for Underwater Inspection Allowing Manoeuvring Constraints

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Intelligent Autonomous Systems 17 (IAS 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 577))

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Abstract

A guidance system is proposed for underwater navigation and inspection of structures to enable path-following control objectives with manoeuvring constraints such as velocity and orientation instructions. To document a vertical surface like a ship hull, a submerged drone will take benefit of maneuvering with the heading perpendicular object, while during transit the most efficient would be to align the heading towards the next way point. The proposed system is simulated using a small underactuated Remotely Operated underwater Vehicle (ROV) with control in surge, sway, heave and yaw (4 DOF). It is based on the Line Of Sight (LOS) steering laws and PID controllers for the 4 DOF motion control. The waypoints are generated together with a list of instructions for orientation and velocity for the ROV using the Parametrised Rapidly exploring Random Graph (PRRG). The LOS vector is used for heading control during transit whereas during inspection, it is used for course control. The proposed framework is tested in simulation to follow 3D straight lines in a lawnmower pattern and a typical path for ship hull inspection. Simulations shows that the paths generated using the proposed solution are viable for inspection tasks taking into account the manoeuvring constraints posed by the inspection mission and the properties of the vehicle.

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Acknowledgment

The authors wish to thank Blueye Robotics for their help by providing the simulator of the drone and relevant data.

This work was supported by the BugWright2 EU H2020-Project under the Grant agreement No. 871260.

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Authors and Affiliations

  1. Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway

    Alexandre Cardaillac & Martin Ludvigsen

  2. Department of Arctic Technology, University Centre in Svalbard, Longyearbyen, Norway

    Martin Ludvigsen

  3. Department for Arctic and Marine Biology, The Arctic University of Norway, Tromsø, Norway

    Martin Ludvigsen

Authors
  1. Alexandre Cardaillac
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  2. Martin Ludvigsen
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Corresponding author

Correspondence to Alexandre Cardaillac .

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Editors and Affiliations

  1. Faculty of Electrical Engineering, University of Zagreb, Zagreb, Croatia

    Ivan Petrovic

  2. Department of Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  3. Faculty of Electrical Engineering, University of Zagreb, Zagreb, Croatia

    Ivan Marković

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Cardaillac, A., Ludvigsen, M. (2023). Path Following for Underwater Inspection Allowing Manoeuvring Constraints. In: Petrovic, I., Menegatti, E., Marković, I. (eds) Intelligent Autonomous Systems 17. IAS 2022. Lecture Notes in Networks and Systems, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-031-22216-0_58

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