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Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments.

Zorana Milosevic¹, Ramon A Suarez Fernandez¹, Sergio Dominguez¹

¹Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain.

Sensors (Basel, Switzerland)

|December 22, 2020

Summary

We developed an autonomous guidance system for the UX-1 robot, a spherical underwater vehicle for exploring flooded mines. This system enables navigation and data collection in unknown, communication-less 3D mine environments.

Keywords:

3D navigation field robotics guidance hardware-in-the-loop software-in-the-loop underwater robots

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Area of Science:

Robotics
Geoscience
Autonomous Systems

Background:

Flooded underground mines pose significant exploration challenges due to lack of communication and unknown 3D environments.
The UX-1 robot is a novel spherical underwater vehicle designed for hazardous subterranean exploration.
Autonomous navigation is critical for robotic missions where real-time communication is impossible.

Purpose of the Study:

To design, implement, and test a robust guidance system for the UX-1 robot.
To enable autonomous navigation and geoscientific data collection in flooded mine tunnels.
To validate the UX-1 robot's capability for complex missions in challenging underwater environments.

Main Methods:

Development of a comprehensive guidance system with integrated subsystems.
Utilization of software-in-the-loop (SIL) and hardware-in-the-loop (HIL) simulation paradigms.
Rigorous experimental testing simulating realistic mine tunnel navigation conditions.

Main Results:

Demonstrated the effectiveness of the developed guidance system.
Confirmed successful integration of the guidance system with other UX-1 robot components.
Validated the UX-1 platform's ability to perform autonomous missions in flooded mines.

Conclusions:

The guidance system is effective for autonomous navigation in complex, unknown underwater mine environments.
The UX-1 robot is a validated platform capable of undertaking challenging subterranean exploration missions.
Successful system integration paves the way for future geoscientific data gathering in hazardous locations.