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    A Generalized Simulation Framework for Tethered Remotely Operated Vehicles in Realistic Underwater Environments (2018)

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    Type of Content
    Journal Article
    UC Permalink
    http://hdl.handle.net/10092/16851
    
    Publisher's DOI/URI
    https://doi.org/10.3390/drones3010001
    
    Publisher
    MDPI AG
    ISSN
    2504-446X
    Language
    English
    Collections
    • Engineering: Journal Articles [1644]
    Authors
    Ganoni O
    Mukundan R
    Green R
    show all
    Abstract

    This paper presents a framework for simulating visually realistic motion of underwater Remotely Operated Vehicles (ROVs) in highly complex models of aquatic environments. The models include a wide range of objects such as rocks, fish and marine plankton in addition to an ROV tether. A modified cable simulation for the underwater physical conditions has been developed for a tethered ROV. The simulation framework also incorporates models for low visibility conditions and intrinsic camera effects unique to the underwater environment. The visual models were implemented using the Unreal Engine 4 realistic game engine to be part of the presented framework. We developed a generalized method for implementing an ROV dynamics model and this method serves as a highly configurable component inside our framework. In this paper, we explore the unique characteristics of underwater simulation and the specialized models we developed for that environment. We use computer vision algorithms for feature extraction and feature tracking as a probe for comparing experiments done in our simulated environment against real underwater experiments. The experimental results presented in this paper successfully demonstrate the contribution of this realistic simulation framework to the understanding, analysis and development of computer vision and control algorithms to be used in today’s ROVs.

    Citation
    Ganoni O, Mukundan R, Green R A Generalized Simulation Framework for Tethered Remotely Operated Vehicles in Realistic Underwater Environments. Drones. 3(1). 1-1.
    This citation is automatically generated and may be unreliable. Use as a guide only.
    Keywords
    robot simulation; ROV; underwater simulation; cable simulation; Unreal Engine 4; plankton; dynamic simulation
    ANZSRC Fields of Research
    40 - Engineering::4015 - Maritime engineering::401505 - Special vehicles
    46 - Information and computing sciences::4602 - Artificial intelligence::460207 - Modelling and simulation
    Rights
    This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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