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Publication

Path planning and control for remotely operated vehicles focused on autonomous visual inspection of floating offshore wind structure

Date
2024
Abstract
This paper introduces an innovative approach to address the challenges of inspecting offshore wind turbines by presenting a real-time dynamic path-planning system for remotely operated vehicles (ROVs). Focused on floating wind turbine structures, the proposed methodology integrates an Inertial Measurement Unit (IMU) into the structure, allowing dynamic adjustment of the inspection path based on real-time pose data. Utilizing a fault-tolerant control solution, the system enables autonomous flight control of ROVs, maintaining consistent orientation towards the structure and desired inspection distance. The applicability of the approach is validated through simulations in the OceanRINGS+ control suite, emphasizing the importance of dynamic path planning in enhancing efficiency, safety, and cost-effectiveness in offshore wind turbine inspections.
Supervisor
Description
Publisher
Institute of Electrical and Electronics Engineers
Citation
OCEANS 2024 IEEE/MTS conference
Collections
Electronic & Computer Engineering
Mobile & Marine Robotics Research Centre (MMRRC)
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Santos_2024_Path.pdf
Adobe PDF, 599.31 KB
Keywords
ROV, offshore wind farms, robots, inspection, intervention, Engineering
ULRR Identifiers
https://doi.org/10.34961/researchrepository-ul.25982401
 https://researchrepository.ul.ie/handle/10344/14990
Funding code
Funding Information
This material is based on works supported by SEAI Research, Development and Demonstration Funding Programme 2021 (grant No.; 21/RDD/747); Science Foundation Ireland under the MaREI Centre research programme (grant NºSFI/12/RC/2302P2, and SFI/14/SP/2740); and LERO Science Foundation Ireland (grant Nº 13/RC/2094)
Sustainable Development Goals
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Type
Meetings and Proceedings
Rights
https://creativecommons.org/licenses/by-nc-sa/4.0/
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