Abstract—In this paper, the position measurement method of an underwater inspection system by a remotely operated vehicle (ROV) hanging from an unmanned surface vehicle (USV) is evaluated. Since the ROV goes directly under the USV, its underwater position can be estimated from its depth and the position of the USV. On the other hand, the horizontal position difference between both vehicles affects estimation accuracy. Thus, the position difference when the system is in a water current and when it is moving was evaluated by a simulation. As a result, in low flow rate, the difference falls within the range considered to be practical. In addition, it is confirmed by simulation and experiment that the positional difference during movement can be reduced by the moving method using both vehicles thrusters. Then, an inspection demonstration was carried out. Even in the real environment, the effect that the hanged ROV is located directly below the USV is confirmed and vertically inspection was easily performed.
Index Terms—Underwater inspection, unmanned surface water vehicle, remotely operated vehicle, underwater cable.
Soji Shimono is with the Q.I Incorporated, 4-7, Fukuura 2-chome, kanazawa-ku, Yokohama, Japan (e-mail: shimono@qi-inc.com).
Hitoshi Arisumi and Shin Kato is with National Institute of Advanced Industrial Science and Technology (AIST), AIST Central 2, 1-1-1 Umezono, Tsukuba, Japan (e-mail: h-arisumi@aist.go.jp, shin.kato@aist.go.jp).
U. Nishizawa and S. Toyama are with the Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Tokyo, Japan. (e-mail: n-uichi@cc.tuat.ac.jp, toyama@cc.tuat.ac.jp).
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Cite: Soji Shimono, Hitoshi Arisumi, Shin Kato, Uichi Nishizawa, and Shigeki Toyama, "Evaluation of Under water Positioning by Hanged ROV from USV," International Journal of Modeling and Optimization vol. 7, no. 4, pp. 224-230, 2017.
