Data processing and control systems for marine robotics

In this master's thesis, three systems for an unmanned surface vehicle (USV) are designed, developed, and tested. These systems include a collision avoidance system, a method to create 3D models of underwater structures, and an integration system for a USV and a remotely operated vehicle (ROV). The first system utilizes LiDAR technology along with four RGB cameras to detect the location of objects around the USV. Based on this information, received via an MQTT channel, the USV defines protection zones for each target. If the USV's protection zone intersects with that of a detected object, it enters a collision alert state and calculates an evasive manoeuvre in accordance with COLREGs. The COLREGs (Convention on the International Regulations for Preventing Collisions at Sea) are international rules established by the International Maritime Organization (IMO) to prevent collisions at sea. This system enhances the autonomy of the USV by enabling it to avoid obstacles in its path. The second system facilitates the scanning of submerged structures using an ROV and then reconstructing them into 3D models. Three methods were investigated for this purpose: stereoscopy, structure from motion (SFM), and neural radiance fields (NeRF). Testing various programs and cameras revealed that both SFM and stereoscopy are effective options for creating 3D models of underwater structures. The third system involves the transportation and remote control of an ROV using a USV, leveraging the USV's onboard computer. This system includes a winch and a framework that secures and tows the ROV safely. The entire system is operated remotely using the USV's remote control. These three systems have been developed for a smaller USV, with the goal of future implementation in a larger USV to improve performance. This approach allows the testing and refinement of these systems on a currently robust USV. This work covers a wide range of topics, including data processing, MQTT communication, image proce
Objectius de Desenvolupament Sostenible::9 - Indústria, Innovació i Infraestructura
Objectius de Desenvolupament Sostenible::14 - Vida Submarina