A guidance and control system proposal for autonomous pipeline inspections

Autores
Rozenfeld, Alejandro Fabian; Acosta, Gerardo Gabriel; Sousa, A. L.; Curti, Hugo Javier; Calvo, Oscar Alberto
Año de publicación
2010
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper describes a guidance and control method, used to guide an autonomous underwater vehicle (AUV) in the task of locating and tracking underwater pipeline and cables. The article also gives details about the simulation and experimental results of the AUV’s navigation when searching for simulated pipelines on the seabed in shallow waters. Sonar based pipeline detection and tracking starts by the acquisition of the sonar image and further realtime processing to distinguish the pipeline from the seabed. Depending on the success of detection, an artificial intelligence (AI) based dynamic path planner must decide the next actions: a search, a skip, an obstacle avoidance or a track process. For instance, pipeline searching involves a series of zig zag explorations of the area where the pipeline is presumably located. Pipeline tracking involves keeping the navigation at fixed distance from the pipe. The path following method proposed in this article is based on a combination of a Lyapunov technique and a PI controller acting over two horizontal thrusters dual torpedo AUV. The article finally reports some of the stages involved in the detection of the pipeline using a sonar, the guidance and control method used for the generation of a smooth path following trajectory, the main aspects of dynamic mission re-planning, and the results, both in computer simulation as well as sea trial experiments for a search process of a simulated pipeline in shallow waters.
Fil: Rozenfeld, Alejandro Fabian. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; Argentina. Universidad de las Islas Baleares; España
Fil: Acosta, Gerardo Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; Argentina
Fil: Sousa, A. L.. Universidad de las Islas Baleares; España
Fil: Curti, Hugo Javier. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Instituto de Investigaciones en Tecnología Informática Avanzada; Argentina
Fil: Calvo, Oscar Alberto. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Instituto de Investigaciones en Tecnología Informática Avanzada; Argentina
Materia
Autonomous underwater vehicles
Acoustic imagery
Pipeline inspections
Guidance and control systems
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/239880
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/239880
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A guidance and control system proposal for autonomous pipeline inspectionsRozenfeld, Alejandro FabianAcosta, Gerardo GabrielSousa, A. L.Curti, Hugo JavierCalvo, Oscar AlbertoAutonomous underwater vehiclesAcoustic imageryPipeline inspectionsGuidance and control systemshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper describes a guidance and control method, used to guide an autonomous underwater vehicle (AUV) in the task of locating and tracking underwater pipeline and cables. The article also gives details about the simulation and experimental results of the AUV’s navigation when searching for simulated pipelines on the seabed in shallow waters. Sonar based pipeline detection and tracking starts by the acquisition of the sonar image and further realtime processing to distinguish the pipeline from the seabed. Depending on the success of detection, an artificial intelligence (AI) based dynamic path planner must decide the next actions: a search, a skip, an obstacle avoidance or a track process. For instance, pipeline searching involves a series of zig zag explorations of the area where the pipeline is presumably located. Pipeline tracking involves keeping the navigation at fixed distance from the pipe. The path following method proposed in this article is based on a combination of a Lyapunov technique and a PI controller acting over two horizontal thrusters dual torpedo AUV. The article finally reports some of the stages involved in the detection of the pipeline using a sonar, the guidance and control method used for the generation of a smooth path following trajectory, the main aspects of dynamic mission re-planning, and the results, both in computer simulation as well as sea trial experiments for a search process of a simulated pipeline in shallow waters.Fil: Rozenfeld, Alejandro Fabian. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; Argentina. Universidad de las Islas Baleares; EspañaFil: Acosta, Gerardo Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; ArgentinaFil: Sousa, A. L.. Universidad de las Islas Baleares; EspañaFil: Curti, Hugo Javier. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Instituto de Investigaciones en Tecnología Informática Avanzada; ArgentinaFil: Calvo, Oscar Alberto. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Instituto de Investigaciones en Tecnología Informática Avanzada; ArgentinaShaker-Verlag2010-11info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/239880Rozenfeld, Alejandro Fabian; Acosta, Gerardo Gabriel; Sousa, A. L.; Curti, Hugo Javier; Calvo, Oscar Alberto; A guidance and control system proposal for autonomous pipeline inspections; Shaker-Verlag; Transactions on Systems, Signals & Devices; 5; 1; 11-2010; 5-271861-5252CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.shaker.eu/en/content/catalogue/index.asp?lang=en&ID=8&ISBN=978-3-8322-9805-0&search=yesinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:37:30Zoai:ri.conicet.gov.ar:11336/239880instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:37:31.08CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A guidance and control system proposal for autonomous pipeline inspections
title A guidance and control system proposal for autonomous pipeline inspections
spellingShingle A guidance and control system proposal for autonomous pipeline inspections
Rozenfeld, Alejandro Fabian
Autonomous underwater vehicles
Acoustic imagery
Pipeline inspections
Guidance and control systems
title_short A guidance and control system proposal for autonomous pipeline inspections
title_full A guidance and control system proposal for autonomous pipeline inspections
title_fullStr A guidance and control system proposal for autonomous pipeline inspections
title_full_unstemmed A guidance and control system proposal for autonomous pipeline inspections
title_sort A guidance and control system proposal for autonomous pipeline inspections
dc.creator.none.fl_str_mv Rozenfeld, Alejandro Fabian
Acosta, Gerardo Gabriel
Sousa, A. L.
Curti, Hugo Javier
Calvo, Oscar Alberto
author Rozenfeld, Alejandro Fabian
author_facet Rozenfeld, Alejandro Fabian
Acosta, Gerardo Gabriel
Sousa, A. L.
Curti, Hugo Javier
Calvo, Oscar Alberto
author_role author
author2 Acosta, Gerardo Gabriel
Sousa, A. L.
Curti, Hugo Javier
Calvo, Oscar Alberto
author2_role author
author
author
author
dc.subject.none.fl_str_mv Autonomous underwater vehicles
Acoustic imagery
Pipeline inspections
Guidance and control systems
topic Autonomous underwater vehicles
Acoustic imagery
Pipeline inspections
Guidance and control systems
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper describes a guidance and control method, used to guide an autonomous underwater vehicle (AUV) in the task of locating and tracking underwater pipeline and cables. The article also gives details about the simulation and experimental results of the AUV’s navigation when searching for simulated pipelines on the seabed in shallow waters. Sonar based pipeline detection and tracking starts by the acquisition of the sonar image and further realtime processing to distinguish the pipeline from the seabed. Depending on the success of detection, an artificial intelligence (AI) based dynamic path planner must decide the next actions: a search, a skip, an obstacle avoidance or a track process. For instance, pipeline searching involves a series of zig zag explorations of the area where the pipeline is presumably located. Pipeline tracking involves keeping the navigation at fixed distance from the pipe. The path following method proposed in this article is based on a combination of a Lyapunov technique and a PI controller acting over two horizontal thrusters dual torpedo AUV. The article finally reports some of the stages involved in the detection of the pipeline using a sonar, the guidance and control method used for the generation of a smooth path following trajectory, the main aspects of dynamic mission re-planning, and the results, both in computer simulation as well as sea trial experiments for a search process of a simulated pipeline in shallow waters.
Fil: Rozenfeld, Alejandro Fabian. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; Argentina. Universidad de las Islas Baleares; España
Fil: Acosta, Gerardo Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tandil; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingeniería Olavarría. Departamento de Electromecánica. Grupo INTELYMEC; Argentina
Fil: Sousa, A. L.. Universidad de las Islas Baleares; España
Fil: Curti, Hugo Javier. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Instituto de Investigaciones en Tecnología Informática Avanzada; Argentina
Fil: Calvo, Oscar Alberto. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Instituto de Investigaciones en Tecnología Informática Avanzada; Argentina
description This paper describes a guidance and control method, used to guide an autonomous underwater vehicle (AUV) in the task of locating and tracking underwater pipeline and cables. The article also gives details about the simulation and experimental results of the AUV’s navigation when searching for simulated pipelines on the seabed in shallow waters. Sonar based pipeline detection and tracking starts by the acquisition of the sonar image and further realtime processing to distinguish the pipeline from the seabed. Depending on the success of detection, an artificial intelligence (AI) based dynamic path planner must decide the next actions: a search, a skip, an obstacle avoidance or a track process. For instance, pipeline searching involves a series of zig zag explorations of the area where the pipeline is presumably located. Pipeline tracking involves keeping the navigation at fixed distance from the pipe. The path following method proposed in this article is based on a combination of a Lyapunov technique and a PI controller acting over two horizontal thrusters dual torpedo AUV. The article finally reports some of the stages involved in the detection of the pipeline using a sonar, the guidance and control method used for the generation of a smooth path following trajectory, the main aspects of dynamic mission re-planning, and the results, both in computer simulation as well as sea trial experiments for a search process of a simulated pipeline in shallow waters.
publishDate 2010
dc.date.none.fl_str_mv 2010-11
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/239880
Rozenfeld, Alejandro Fabian; Acosta, Gerardo Gabriel; Sousa, A. L.; Curti, Hugo Javier; Calvo, Oscar Alberto; A guidance and control system proposal for autonomous pipeline inspections; Shaker-Verlag; Transactions on Systems, Signals & Devices; 5; 1; 11-2010; 5-27
1861-5252
CONICET Digital
CONICET
url http://hdl.handle.net/11336/239880
identifier_str_mv Rozenfeld, Alejandro Fabian; Acosta, Gerardo Gabriel; Sousa, A. L.; Curti, Hugo Javier; Calvo, Oscar Alberto; A guidance and control system proposal for autonomous pipeline inspections; Shaker-Verlag; Transactions on Systems, Signals & Devices; 5; 1; 11-2010; 5-27
1861-5252
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.shaker.eu/en/content/catalogue/index.asp?lang=en&ID=8&ISBN=978-3-8322-9805-0&search=yes
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Shaker-Verlag
publisher.none.fl_str_mv Shaker-Verlag
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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