RT Journal Article
T1 A Control Architecture for Developing Reactive Hybrid Remotely Operated Underwater Vehicles
A1 Gómez Bravo, Fernando
A1 Garrocho Cruz, Alejandro
A1 Marín Cañas, Olga
A1 Pulido Calvo, Inmaculada
A1 Gutiérrez Estrada, Juan Carlos
A1 Peregrín Rubio, Antonio
AB This article introduces a control architecture designed for the development of HybridRemotely Operated Underwater Vehicles. The term ”Hybrid” characterizes Remotely Operatedsystems capable of autonomously executing specific operations. The presented architecture maintainsteleoperation capabilities while enabling two fully autonomous applications. The approach emphasizesthe implementation of reactive navigation by exclusively utilizing data from a MechanicalScanned Imaging Sonar for control decisions. This mandates the control system to solely react to dataderived from the vehicle’s environment, without considering other positioning information or stateestimation. The study involves transforming a small-scale commercial Remotely Operated UnderwaterVehicle into a hybrid system without structural modifications, and details the development of anintermediate Operational Control Layer responsible for sensor data processing and task executioncontrol. Two practical applications, inspired by tasks common in natural or open-water aquaculturefarms, are explored: one for conducting transects, facilitating monitoring and maintenance operations,and another for navigating toward an object for inspection purposes. Experimental results validatethe feasibility and effectiveness of the authors’ hypotheses. This approach expands the potentialapplications of underwater vehicles and facilitates the development of Hybrid Remotely OperatedUnderwater Vehicles, enabling the execution of autonomous reactive tasks.
PB MDPI
SN 2075-1702 (electrónico)
YR 2024
FD 2024
LK https://hdl.handle.net/10272/22860
UL https://hdl.handle.net/10272/22860
LA eng
NO Gómez-Bravo, F., Garrocho-Cruz, A., Marín-Cañas, O., Pulido-Calvo, I., Gutiérrez-Estrada, J.C., Peregrín-Rubio, A. 2024. A control architecture for developing reactive hybrid remotely operated underwater vehicles. Machines 12(1), 1   https://doi.org/10.3390/machines12010001
NO This research was funded by KTTSeaDrones project (0622_KTTSEADRONES_5E), cofunded by the European Regional Development Fund, ERDF, through the Interreg V-A Spain-Portugal program (POCTEP) 2014–2020.
DS Repositorio Institucional de la Universidad de Huelva
RD 31 may 2026