This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed low altitude survey. Whenever a possible nodule is found, it performs an insitu measurement through laser induced spectroscopy. To do so, the underwater vehicle must first land on the seafloor, with a certain precision to allow a subsequent fixed-based manipulation, bringing its manipulator endowed with the laser system in the position to carry out the measurement. The work reports the developed control architecture and the simulation results supporting it.

ROBUST project: Control Framework for Deep Sea Mining Exploration

Simetti, E.;Wanderlingh, F.;Casalino, G.;Indiveri, G.;
2017

Abstract

This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed low altitude survey. Whenever a possible nodule is found, it performs an insitu measurement through laser induced spectroscopy. To do so, the underwater vehicle must first land on the seafloor, with a certain precision to allow a subsequent fixed-based manipulation, bringing its manipulator endowed with the laser system in the position to carry out the measurement. The work reports the developed control architecture and the simulation results supporting it.
File in questo prodotto:
File Dimensione Formato  
OA_2017_09_OCEANS_ROBUST project Control Framework for Deep Sea Mining Exploration.pdf

accesso aperto

Tipologia: Documento in Post-print
Dimensione 1.03 MB
Formato Adobe PDF
1.03 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11567/883087
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? 0
social impact