Control of autonomous underwater vehicle based on visual feedback for pipeline inspection

For everyday inspection jobs in offshore oil and gas industry, the human divers are being replaced by underwater vehicles. This paper proposes a visual feedback based control of an autonomous underwater vehicle for pipeline inspection. The hydrodynamic disturbances in water severely affect the movem...

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Main Authors: Khan, A., Ali, S.S.A., Malik, A.S., Anwer, A., Hussain, N.A.A., Meriaudeau, F.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.20139 /
Published: Institute of Electrical and Electronics Engineers Inc. 2017
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85015905563&doi=10.1109%2fROMA.2016.7847814&partnerID=40&md5=172802533e9d94b724797947823a9279
http://eprints.utp.edu.my/20139/
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spelling utp-eprints.201392018-04-22T14:42:24Z Control of autonomous underwater vehicle based on visual feedback for pipeline inspection Khan, A. Ali, S.S.A. Malik, A.S. Anwer, A. Hussain, N.A.A. Meriaudeau, F. For everyday inspection jobs in offshore oil and gas industry, the human divers are being replaced by underwater vehicles. This paper proposes a visual feedback based control of an autonomous underwater vehicle for pipeline inspection. The hydrodynamic disturbances in water severely affect the movement of the vehicle resulting in performance degrading. The heading of the autonomous underwater vehicle under such disturbances is controlled using visual feedback to track the pipeline for inspection. The proposed method does not demand expensive position feedback devices such as underwater acoustic positioning system. By using built-in camera of the vehicle and few image processing techniques a simpler, easier and low-cost solution is proposed. The performance evaluation of the proposed technique on sample underwater images is also presented. © 2016 IEEE. Institute of Electrical and Electronics Engineers Inc. 2017 Article PeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85015905563&doi=10.1109%2fROMA.2016.7847814&partnerID=40&md5=172802533e9d94b724797947823a9279 Khan, A. and Ali, S.S.A. and Malik, A.S. and Anwer, A. and Hussain, N.A.A. and Meriaudeau, F. (2017) Control of autonomous underwater vehicle based on visual feedback for pipeline inspection. 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 . http://eprints.utp.edu.my/20139/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description For everyday inspection jobs in offshore oil and gas industry, the human divers are being replaced by underwater vehicles. This paper proposes a visual feedback based control of an autonomous underwater vehicle for pipeline inspection. The hydrodynamic disturbances in water severely affect the movement of the vehicle resulting in performance degrading. The heading of the autonomous underwater vehicle under such disturbances is controlled using visual feedback to track the pipeline for inspection. The proposed method does not demand expensive position feedback devices such as underwater acoustic positioning system. By using built-in camera of the vehicle and few image processing techniques a simpler, easier and low-cost solution is proposed. The performance evaluation of the proposed technique on sample underwater images is also presented. © 2016 IEEE.
format Article
author Khan, A.
Ali, S.S.A.
Malik, A.S.
Anwer, A.
Hussain, N.A.A.
Meriaudeau, F.
spellingShingle Khan, A.
Ali, S.S.A.
Malik, A.S.
Anwer, A.
Hussain, N.A.A.
Meriaudeau, F.
Control of autonomous underwater vehicle based on visual feedback for pipeline inspection
author_sort Khan, A.
title Control of autonomous underwater vehicle based on visual feedback for pipeline inspection
title_short Control of autonomous underwater vehicle based on visual feedback for pipeline inspection
title_full Control of autonomous underwater vehicle based on visual feedback for pipeline inspection
title_fullStr Control of autonomous underwater vehicle based on visual feedback for pipeline inspection
title_full_unstemmed Control of autonomous underwater vehicle based on visual feedback for pipeline inspection
title_sort control of autonomous underwater vehicle based on visual feedback for pipeline inspection
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2017
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85015905563&doi=10.1109%2fROMA.2016.7847814&partnerID=40&md5=172802533e9d94b724797947823a9279
http://eprints.utp.edu.my/20139/
_version_ 1741196324280205312
score 11.62408

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