Tether-based localisation system for underwater robots

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dc.contributor.authorMartin, A.
dc.contributor.authorTang, Gilbert
dc.date.accessioned2022-11-01T18:25:25Z
dc.date.available2022-11-01T18:25:25Z
dc.date.issued2022-10-10
dc.description.abstractTank-inspection robotic crawlers often rely on localisation techniques such as dead reckoning to survey walls and surfaces. However, the robot position can drift over time when using these techniques, which therefore require precise calibration. This paper presents a novel tether-based system providing a real-time localisation reference tool to help calibrate and understand prevalent localisation technologies, inside uncluttered tanks. The assessed localisation technologies can subsequently be used in cluttered and complex operational tanks. The developed system relies on a mechanical connection between the tank edge and the robotic crawler and is composed of two distinct units. The first unit is the tether orienting platform clamped onto the tank edge and guiding a tether coming out of a draw-wire position sensor. The second unit is the crawler platform mounted on top of the robotic crawler and holding the tip of the tether, while allowing the robot to move freely. The performance of the system is assessed by determining the accuracy on the 3D position of the robot and the accuracy on its 2D heading, over a 1m x 1m area. The positional accuracy with 90% confidence interval is ±39mm and the heading accuracy with 95% confidence interval is ±4.8°.en_UK
dc.identifier.citationMartin A, Tang G. (2022) Tether-based localisation system for underwater robots. In: 2022 27th International Conference on Automation and Computing (ICAC), 1-3 September 2022, Bristol, UKen_UK
dc.identifier.eisbn978-1-6654-9807-4
dc.identifier.isbn978-1-6654-9808-1
dc.identifier.urihttps://doi.org/10.1109/ICAC55051.2022.9911113
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/18631
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rights© Cranfield University, 2015. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright holder.
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectTethered Roboticsen_UK
dc.subjectLocalisation Systemen_UK
dc.subjectTank Inspectionen_UK
dc.subjectRobotic Crawleren_UK
dc.subjectForward Kinematicsen_UK
dc.titleTether-based localisation system for underwater robotsen_UK
dc.typeConference paperen_UK

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