In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system’s validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments. ; This work was supported by the UNEXMIN project with funding from the European Union’s Horizon 2020 research and innovation programme under Grant Agreement No. 690008 and has received funding from RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub (“Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase IV”; S2018/NMT-4331), funded by “Programas de Actividades I+D en la Comunidad de Madrid” and cofunded by Structural Funds of the EU. ; Peer reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Guidance for autonomous underwater vehicles in confined semistructured environments



    Erscheinungsdatum :

    2020-12-17


    Anmerkungen:

    1424-8220



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Vision-Based Guidance of Autonomous Underwater Vehicles

    Foresti, G. L. / International Symposium on Automotive Technology and Automation | British Library Conference Proceedings | 1999


    Vision-based guidance of autonomous underwater vehicles

    Foresti,G.L. / Univ.di Udine,IT | Kraftfahrwesen | 1999


    Guidance-based path following for autonomous underwater vehicles

    Breivik, M. / Fossen, T.I. | Tema Archiv | 2005



    Online motion planning for unexplored underwater environments using autonomous underwater vehicles

    David Hernandez, Juan / Vidal, Eduard / Moll, Mark et al. | BASE | 2019

    Freier Zugriff