INVESTIGADORES
ACOSTA Gerardo Gabriel
congresos y reuniones científicas
Título:
Experimental tests on underwater pipeline inspections with an AUV prototype
Autor/es:
O. A. CALVO; A. SOUSA; A. F. ROZENFELD; J. BIBILONI; G. G. ACOSTA; H. J. CURTI; J. GHOMMAM
Lugar:
Quebec, Canadá, September 15-18
Reunión:
Conferencia; MTS/IEEE Oceans'08; 2008
Institución organizadora:
IEEE
Resumen:
This article presents a low cost autonomous underwater vehicle (AUV) designed to find, locate and trackunderwater oil pipelines, sewage pipes and cables, without human intervention. Design aspects of the prototype, softwarearchitecture for on-line path and task planning and re-planning performed by a dynamic mission planner, are described. Theexperiments performed in shallow water show different test cases. The task scheduling is based on a dual approach: statemachine and expert system that are continuously validated one against each other. Several control strategies were analyzedand their results are also shown. The mechanical, electronic and software details of the vehicle are also described in detail,and experimental results are presented and discussed.Key-Words: autonomous underwater robots, path planning, knowledge-based system, underwater pipeline inspection
