2026-04-17T17:14:22Zhttps://recercat.cat/oai/requestoai:recercat.cat:10256/177682024-06-13T09:50:52Zcom_2072_453036com_2072_2054col_2072_453037
A novel approach to obstacle avoidance for an I-AUV: Preliminary Simulation Results
Simoni, Roberto
Ridao Rodríguez, Pere
Cieśląk, Patryk
Youakim Isaac, Dina Nagui
Robots mòbils
Mobile robots
Vehicles submergibles
Submersibles
Algorismes computacionals
Computer algorithms
Comunicació de congrés presentada a: IROS 2018 Workshop (5 octubre 2018: Madrid): New Horizon For Underwater Intervention Missions: From Current Technologies to Future Applications. https://www.iros2018.org/workshops
This paper presents a novel approach to obstacle
avoidance approach for an I-AUV in a framework of setbased task-priority kinematic control algorithm. The approach
is divided into two modes: Mode (1) navigation and inspection
and Mode (2) intervention. For navigation we fully wrap the
I-AUV with two safety spheres at the vehicle and one at
the arm. For intervention we use more safety spheres with
smaller sizes to fully wrap the I-AUV to allow more precise
movements of the I-AUV near the intervention areas.The novel
approach was implemented and simulated with the 8-DOF IAUV GIRONA500 in a scenario for inspection and maintenance
(valve turning) of a BOP (blowout preventer) structure used in
oil and gas industry. The BOP structure was represented by an
octomap and each occupied cell of the octomap was considered
as an obstacle in our model
2018
info:eu-repo/semantics/conferenceObject
http://hdl.handle.net/10256/17768
http://hdl.handle.net/10256/17768
eng
Tots els drets reservats
info:eu-repo/semantics/openAccess
application/pdf
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Contribucions a Congressos (D-ATC)