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Theses

Study and development of relocation solutions of underwater objects by underwater heterogeneous vehicles

Abstract : In the Mine Counter Measure (MCM) context in the underwater environment, it is vital to revisit some potentially dangerous objects to identify and neutralize them if they are actually mines. This dangerous task was usually performed by humandivers but more and more it is conducted by unmanned underwater robots. Due to the low cost design of the revisit/mine-killer robot, going straightforward to the geolocalized suspicious object does not guarantee that the robot will redetect it.Moreover the robot may dive at a far position from the target and the lack of absolute positioning system in underwater environment demands a strategy to follow to guarantee the revisit of this target. Based on a priori information in the working area and especially the presence of geolocalized landmarks, the problem is solved as a motion planning problem considering uncertainties due to the increasing error when navigating underwater. In the context of bounded errors, the problem is solved in a set-membership manner. Firstly, based on the location and the shape of the landmarks, and on the visibility area of the sensor embedded, the registration maps are computed indicating the sets of robot poses to detect the different landmarks considered in order to reduce the uncertainty on the robot position. Secondly, based on a parametric motion model with uncertain parameters, an high level strategy is provided through a raph optimization. The strategy consists in navigating between the registration maps toreduce each times the uncertainty in position of therobot and finally to guarantee the reachability of agoal area corresponding to the redetection of the target.
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https://tel.archives-ouvertes.fr/tel-02569767
Contributor : Abes Star :  Contact
Submitted on : Monday, May 11, 2020 - 3:30:12 PM
Last modification on : Friday, September 25, 2020 - 3:35:56 AM

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2019_thibaut_nico.pdf
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  • HAL Id : tel-02569767, version 1

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Thibaut Nico. Study and development of relocation solutions of underwater objects by underwater heterogeneous vehicles. Automatic. ENSTA Bretagne - École nationale supérieure de techniques avancées Bretagne, 2019. English. ⟨NNT : 2019ENTA0005⟩. ⟨tel-02569767⟩

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