Towards Teleoperation and Automatic Control Features of an Unmanned Surface Vessel-ROV System: Preliminary Results

L. Nava-Balanzar, J. L. Sanchez-Gaytán, F. Fonseca-Navarro, T. Salgado-Jiménez, M. Á. Reyna-Alonso, L. G. Garcia-Valdovinos, O. Rubio-Lopez, A. Gómez-Espinosa, A. Ramirez-Martinez

2017

Abstract

This paper presents the design, construction and control of an Unmanned Surface Vessel (USV) along with a ROV (Remotely Operated Vehicle) system, called USV-ROV system. These systems are mainly used for underwater inspection of shallow water structures, such as: ports, bridges bases and platforms. The USV-ROV, developed at CIDESI-Mexico, has been designed for academic purposes. This paper describes the Surface Control Unit (SCU), the ROV and the USV, including: electronics architecture, data managing, sensors, actuators and mechanical design considerations. USV and ROV control strategies preliminary results are presented. Real time experiments are shown for: USV heading control, and ROV depth and heading control. The goal of this paper is to present preliminary results of a coordinated USV-ROV system, desgined for the development of inspection and surveillance techniques accroding to the marine and submarine application; however, these techniques are not commercially available and have to be developed with an open architecture system like the presented here.

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in Harvard Style

Nava-Balanzar L., Sanchez-Gaytán J., Fonseca-Navarro F., Salgado-Jiménez T., Reyna-Alonso M., Garcia-Valdovinos L., Rubio-Lopez O., Gómez-Espinosa A. and Ramirez-Martinez A. (2017). Towards Teleoperation and Automatic Control Features of an Unmanned Surface Vessel-ROV System: Preliminary Results.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 154-161. DOI: 10.5220/0006414302920299


in Bibtex Style

@conference{icinco17,
author={L. Nava-Balanzar and J. L. Sanchez-Gaytán and F. Fonseca-Navarro and T. Salgado-Jiménez and M. Á. Reyna-Alonso and L. G. Garcia-Valdovinos and O. Rubio-Lopez and A. Gómez-Espinosa and A. Ramirez-Martinez},
title={Towards Teleoperation and Automatic Control Features of an Unmanned Surface Vessel-ROV System: Preliminary Results},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={154-161},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006414302920299},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Towards Teleoperation and Automatic Control Features of an Unmanned Surface Vessel-ROV System: Preliminary Results
SN - 978-989-758-264-6
AU - Nava-Balanzar L.
AU - Sanchez-Gaytán J.
AU - Fonseca-Navarro F.
AU - Salgado-Jiménez T.
AU - Reyna-Alonso M.
AU - Garcia-Valdovinos L.
AU - Rubio-Lopez O.
AU - Gómez-Espinosa A.
AU - Ramirez-Martinez A.
PY - 2017
SP - 154
EP - 161
DO - 10.5220/0006414302920299