ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300

Abstract

This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

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Additional Info

DOE Project Name: Advanced Laboratory and Field Arrays (ALFA)
DOE Project Number: EE0006816
DOE Project Lead: Tim Ramsey
DOI: 10.15473/1439810
Last Updated: 3 months ago
Jun
2017
Data from June, 2017
Submitted Jan 30, 2018

Contact

Oregon State University


541.737.5906

Status

Publicly accessible License 

Authors

Geoffrey Hollinger
Oregon State University
Nicholas Lawrance
Oregon State University

Keywords

MHK, Marine, Hydrokinetic, energy, power, underwater vehicles, python code, video, mp4, AutoAMP, platform deployment, intervention trial, semi-autonomous, underwater vehicle, sAUV, Seabotix, vLBV300, ALFA, laboratory, field, array, technology, near-shore, offshore, Newport Bay, Oregon State University, Python

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