養殖生け簀点検のためのROVナビゲーションシステム
A Navigation System for ROV's inspection on Fish Net Cage
市販のBlueROV2をROSベースに改造し、TagSLAMによる自己位置推定とNFC制御で生け簀点検を自動化するシステムを開発・実験検証した。
著者: Zhikang Ge, Fang Yang, Wenwu Lu, Peng Wei, Yibin Ying, Chen Peng
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications.
