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A Navigation System for ROV's inspection on Fish Net Cage

Zhikang Ge, Fang Yang, Wenwu Lu, Peng Wei, Yibin Ying, Chen Peng

Abstract

Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications.

A Navigation System for ROV's inspection on Fish Net Cage

Abstract

Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications.

Paper Structure

This paper contains 16 sections, 1 theorem, 19 equations, 10 figures.

Table of Contents

  1. Introduction
  2. ROV Inspection System
  3. Robotic Platform
  4. Localization system
  5. Mapping with Markers
  6. Sensor Fusion for Accuracy
  7. Path Planning system
  8. Control System
  9. Dynamics Modeling
  10. NFC Controller
  11. Experiments and Results
  12. Setup and configuration
  13. PID controller
  14. NFC controller
  15. Results and Analysis
  16. ...and 1 more sections

Key Result

Lemma 2.1

The error dynamics equation eq:error_dynamics for the control system asymptotically converges to zero if the following nominal feedback control law is used: where $K = [-K_1, -K_2]$, $K_1 \in \mathbb{R}^{4 \times 4}$, $K_2 \in \mathbb{R}^{4 \times 4}$, and matrix $K$ is designed such that is an asymptotically stable matrix.

Figures (10)

  • Figure 1: The integrated sensors of the BlueROV2 for the fish net cage inspection.
  • Figure 2: ROV with the integrated sensor setup.
  • Figure 3: A TagSLAM scene with a single camera, featuring dynamic "rig" and a static "map" body.
  • Figure 4: The planner of ROV's inspection given a constructed map.
  • Figure 5: Motion States and Reference Frames of the ROV.
  • ...and 5 more figures

Theorems & Definitions (1)

  • Lemma 2.1