Abstract
This chapter describes an equipment setup and motion control strategy for automated visual mapping of steep underwater walls using a remotely operated vehicle (ROV) equipped with a horizontally facing doppler velocity logger (DVL) to provide vehicle velocity and distance measurements relative to the underwater wall. The main scientific contribution is the development of the motion control strategy for distance keeping and adaptive orientation using measurements from a DVL mounted in an arbitrary orientation. Autonomy aspects concerning this type of mapping operation are also discussed. The still images recorded by the stereo cameras of the ROV are post-processed into a 3D photogrammetry model using a combination of commercially available software and freeware. The system was implemented on an ROV and tested on a survey of a rock wall in the Trondheimsfjord in April 2016.
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Acknowledgements
This work has been carried out at the Centre for Autonomous Marine Operations and Systems (NTNU AMOS). This work was supported by the Research Council of Norway through the Centres of Excellence funding scheme, Project number 223254 - NTNU AMOS. The authors would also like to thank the crew of the Applied Underwater Robotics Laboratory (NTNU AUR-Lab) and RV Gunnerus for their help in carrying out the experiments.
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Nornes, S.M., Sørensen, A.J., Ludvigsen, M. (2017). Motion Control of ROVs for Mapping of Steep Underwater Walls. In: Fossen, T., Pettersen, K., Nijmeijer, H. (eds) Sensing and Control for Autonomous Vehicles. Lecture Notes in Control and Information Sciences, vol 474. Springer, Cham. https://doi.org/10.1007/978-3-319-55372-6_3
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DOI: https://doi.org/10.1007/978-3-319-55372-6_3
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