A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles
This article introduces a control architecture designed for the development of Hybrid Remotely Operated Underwater Vehicles. The term ”Hybrid” characterizes Remotely Operated systems capable of autonomously executing specific operations. The presented architecture maintains teleoperation capabilitie...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/12/1/1 |
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| author | Fernando Gómez-Bravo Alejandro Garrocho-Cruz Olga Marín-Cañas Inmaculada Pulido-Calvo Juan Carlos Gutierrez-Estrada Antonio Peregrín-Rubio |
| author_facet | Fernando Gómez-Bravo Alejandro Garrocho-Cruz Olga Marín-Cañas Inmaculada Pulido-Calvo Juan Carlos Gutierrez-Estrada Antonio Peregrín-Rubio |
| author_sort | Fernando Gómez-Bravo |
| collection | DOAJ |
| description | This article introduces a control architecture designed for the development of Hybrid Remotely Operated Underwater Vehicles. The term ”Hybrid” characterizes Remotely Operated systems capable of autonomously executing specific operations. The presented architecture maintains teleoperation capabilities while enabling two fully autonomous applications. The approach emphasizes the implementation of reactive navigation by exclusively utilizing data from a Mechanical Scanned Imaging Sonar for control decisions. This mandates the control system to solely react to data derived from the vehicle’s environment, without considering other positioning information or state estimation. The study involves transforming a small-scale commercial Remotely Operated Underwater Vehicle into a hybrid system without structural modifications, and details the development of an intermediate Operational Control Layer responsible for sensor data processing and task execution control. Two practical applications, inspired by tasks common in natural or open-water aquaculture farms, are explored: one for conducting transects, facilitating monitoring and maintenance operations, and another for navigating toward an object for inspection purposes. Experimental results validate the feasibility and effectiveness of the authors’ hypotheses. This approach expands the potential applications of underwater vehicles and facilitates the development of Hybrid Remotely Operated Underwater Vehicles, enabling the execution of autonomous reactive tasks. |
| first_indexed | 2024-03-08T10:43:16Z |
| format | Article |
| id | doaj.art-6d427dc79a3d4b2f8cf3de60709e8c16 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-08T10:43:16Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-6d427dc79a3d4b2f8cf3de60709e8c162024-01-26T17:23:18ZengMDPI AGMachines2075-17022023-12-01121110.3390/machines12010001A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater VehiclesFernando Gómez-Bravo0Alejandro Garrocho-Cruz1Olga Marín-Cañas2Inmaculada Pulido-Calvo3Juan Carlos Gutierrez-Estrada4Antonio Peregrín-Rubio5Department of Electronic Engineering, Computer Systems and Automation, Technical School of Engineering, Campus El Carmen, University of Huelva, 21007 Huelva, SpainDepartment of Electronic Engineering, Computer Systems and Automation, Technical School of Engineering, Campus El Carmen, University of Huelva, 21007 Huelva, SpainDepartment of Electronic Engineering, Computer Systems and Automation, Technical School of Engineering, Campus El Carmen, University of Huelva, 21007 Huelva, SpainAgroforestry Sciences Department, Technical School of Engineering, Campus El Carmen, University of Huelva, 21007 Huelva, SpainAgroforestry Sciences Department, Technical School of Engineering, Campus El Carmen, University of Huelva, 21007 Huelva, SpainCenter for Advanced Studies in Physics, Mathematics and Computing (CEAFMC), University of Huelva, 21007 Huelva, SpainThis article introduces a control architecture designed for the development of Hybrid Remotely Operated Underwater Vehicles. The term ”Hybrid” characterizes Remotely Operated systems capable of autonomously executing specific operations. The presented architecture maintains teleoperation capabilities while enabling two fully autonomous applications. The approach emphasizes the implementation of reactive navigation by exclusively utilizing data from a Mechanical Scanned Imaging Sonar for control decisions. This mandates the control system to solely react to data derived from the vehicle’s environment, without considering other positioning information or state estimation. The study involves transforming a small-scale commercial Remotely Operated Underwater Vehicle into a hybrid system without structural modifications, and details the development of an intermediate Operational Control Layer responsible for sensor data processing and task execution control. Two practical applications, inspired by tasks common in natural or open-water aquaculture farms, are explored: one for conducting transects, facilitating monitoring and maintenance operations, and another for navigating toward an object for inspection purposes. Experimental results validate the feasibility and effectiveness of the authors’ hypotheses. This approach expands the potential applications of underwater vehicles and facilitates the development of Hybrid Remotely Operated Underwater Vehicles, enabling the execution of autonomous reactive tasks.https://www.mdpi.com/2075-1702/12/1/1Hybrid Remotely Operated Underwater Vehiclesreactive navigationcontrol architectureunderwater operations |
| spellingShingle | Fernando Gómez-Bravo Alejandro Garrocho-Cruz Olga Marín-Cañas Inmaculada Pulido-Calvo Juan Carlos Gutierrez-Estrada Antonio Peregrín-Rubio A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles Machines Hybrid Remotely Operated Underwater Vehicles reactive navigation control architecture underwater operations |
| title | A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles |
| title_full | A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles |
| title_fullStr | A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles |
| title_full_unstemmed | A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles |
| title_short | A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles |
| title_sort | control architecture for developing reactive hybrid remotely operated underwater vehicles |
| topic | Hybrid Remotely Operated Underwater Vehicles reactive navigation control architecture underwater operations |
| url | https://www.mdpi.com/2075-1702/12/1/1 |
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