Uma contribuição à localização autônoma de veículos operados remotamente em operações submarinas de inspeção e intervenção

Abstract

The objective of this research work is to present a contribution to the autonomous localization of Remotely Operated Vehicles. The operation of this type of mobile robotics is limited by the positioning uncertainties of conventional navigation sensors and hydroacoustic positioning systems. Positioning limitations demand pilot assisted operations which can cause impacts on costs and time. The uncertainties related to inspections and equipment interventions are firstly assessed with dual quaternion formulation of kinematics and the kinematic reliability concept. Recursive bayesian inference methods are adopted for sensor data fusion and camera pose estimation in a Kalman Filter framework. The approach proposed in this work pro duces kinematic uncertainty estimates which can be used for the automatic control of ROVs and subsea manipulators in the operations under study. The results related to reduction of pipeline framing during inspections and ROV docking for equipment interventions are presented.