Title :
A prototype autonomous underwater vehicle for pipeline inspection
Author :
Hallset, Jan Olav
Author_Institution :
Sintef Automatic Control, Trondheim, Norway
Abstract :
A project on the use of a cableless autonomous underwater vehicle (AUV) for inspection of offshore pipelines is described. The current work is concentrated on building a vehicle, a high level control system, and a low cost pipeline tracking system. The background, the object, and the status of the project are given. The high level control system, the vision based pipeline tracking system, and the low level vehicle controller are described in some detail.<>
Keywords :
computer vision; inspection; marine systems; AUV; cableless autonomous underwater vehicle; computer vision; control system; offshore pipelines; pipeline inspection; pipeline tracking system; position control; Costs; Inspection; Level control; Machine vision; Pipelines; Prototypes; Remotely operated vehicles; Underwater cables; Underwater tracking; Underwater vehicles;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240509
