Quaternion based control for robotic observation of marine diversity

Abstract : In the current context of increasing pressures on marine ecosystems, one of the main challenge of ecology is to be able to conduct accurate and reliable assessment of biodiversity. Until now, studies are mainly performed by divers, which induces high cost and heavy logistic on terrain missions and are limited to few meters depth. An underwater robot could be a solution to most limitations of human-operated observation (divers) in underwater environment, but requires to be specialized according to expert protocols and objectives. This paper presents the design of the control architecture of an underwater hybrid vehicle, where control is distributed among expert (marine biologists) and autonomous system. The analysis of expert protocols drives the control design, resulting in a composition of 'functioning modes', according to the chosen observation strategy and the appropriate control distribution (operator/robot) and actuators allocation (redundant thrusters). We present here the design of the different control laws dedicated to each functioning mode (observation strategy). The performance of the solution is evaluated on the simulator of the ROV Ulysse.
Type de document :
Communication dans un congrès
OCEANS, Jun 2017, Aberdeen, United Kingdom. MTS/IEEE OCEANS'17, 2017, A vision for our marine future. 〈http://www.oceans17mtsieeeaberdeen.org/〉
Liste complète des métadonnées

Littérature citée [5 références]  Voir  Masquer  Télécharger

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01588991
Contributeur : Karen Godary-Dejean <>
Soumis le : lundi 18 septembre 2017 - 10:50:46
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

Fichiers

Oceans_2017_VFinale.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : lirmm-01588991, version 1

Citation

Silvain Louis, Lionel Lapierre, Karen Godary-Dejean, Yadpiroon Onmek, Thomas Claverie, et al.. Quaternion based control for robotic observation of marine diversity. OCEANS, Jun 2017, Aberdeen, United Kingdom. MTS/IEEE OCEANS'17, 2017, A vision for our marine future. 〈http://www.oceans17mtsieeeaberdeen.org/〉. 〈lirmm-01588991〉

Partager

Métriques

Consultations de la notice

196

Téléchargements de fichiers

134