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Conference Papers Year : 2018

Local Vision-Based Tether Control for a Line of Underwater Robots

Abstract

Remote Operated Vehicles are widely used in underwater operation mainly because the tether that links the robot to its floating base provides inexhaustible energy and gives live feedback which alleviates two major issues in autonomous underwater vehicles : autonomous decision making and power consumption. Yet deploying and handling a tether is not without drawbacks. Tether dragging or entanglement can hamper the ROV motion and it could make it difficult to navigate in narrow and confined spaces such as wreck or cave. In this paper we introduce the concept of line of ROVs : adding intermediate robot along the tether can be a simple and practical solution to properly handle tether shape. In this paper we propose to investigate the use of a local visual servoing.
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Dates and versions

hal-04123118 , version 1 (14-06-2023)

Identifiers

  • HAL Id : hal-04123118 , version 1

Cite

Matheus Laranjeira, Claire Dune, Vincent Hugel. Local Vision-Based Tether Control for a Line of Underwater Robots. IEEE IROS 2018, Oct 2018, Madrid, Spain. ⟨hal-04123118⟩

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