Date
2019
Abstract
This paper presents autonomous docking of an industry standard work-class ROV to both static and dynamic docking station (Tether Management System — TMS) using visual based pose estimation techniques. This is the first time autonomous docking to a dynamic docking station has been presented. Furthermore, the presented system does not require a specially designed docking station but uses a conventional cage type TMS. The paper presents and discusses real-world environmental tests successfully completed during January 2019 in the North Atlantic Ocean. To validate the performance of the system, a commercial state of the art underwater navigation system has been used. The results demonstrate a significant advancement in resident ROV automation and capabilities, and represents a system which can be retrofitted to the current
Supervisor
Description
peer-reviewed
Publisher
Elsevier
Citation
Ocean Engineering;196, (2020) 106840
Collections
Electronic & Computer Engineering
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Trslic_2019_Vision.pdf
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Keywords
Resident ROV, Autonomous docking, Computer vision
ULRR Identifiers
https://hdl.handle.net/10344/8466
 https://doi.org/10.34961/3797
Funding code
Funding Information
Science Foundation Ireland (SFI), Marine Institute Ireland, Horizon 2020
Sustainable Development Goals
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