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Article

Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain
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This paper is an extended version of our paper published: Milosevic, Z.; Fernandez, R.; Dominguez, S.; Rossi, C. Guidance and Navigation Software for Autonomous Underwater Explorer of Flooded Mines. In Proceedings of the IMWA 2019 Conference—Mine Water: Technological and Ecological Challenges, Perm, Russia, 15–19 July 2019, pp. 690–696.
Sensors 2020, 20(24), 7237; https://doi.org/10.3390/s20247237
Received: 13 November 2020 / Revised: 9 December 2020 / Accepted: 14 December 2020 / Published: 17 December 2020
In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system’s validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments. View Full-Text
Keywords: underwater robots; guidance; 3D navigation; field robotics; software-in-the-loop; hardware-in-the-loop underwater robots; guidance; 3D navigation; field robotics; software-in-the-loop; hardware-in-the-loop
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MDPI and ACS Style

Milosevic, Z.; Fernandez, R.A.S.; Dominguez, S.; Rossi, C. Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments. Sensors 2020, 20, 7237. https://doi.org/10.3390/s20247237

AMA Style

Milosevic Z, Fernandez RAS, Dominguez S, Rossi C. Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments. Sensors. 2020; 20(24):7237. https://doi.org/10.3390/s20247237

Chicago/Turabian Style

Milosevic, Zorana, Ramon A.S. Fernandez, Sergio Dominguez, and Claudio Rossi. 2020. "Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments" Sensors 20, no. 24: 7237. https://doi.org/10.3390/s20247237

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