Control of autonomous underwater vehicle based on visual feedback for pipeline inspection

Amjad Khan; Syed Saad Azhar Ali; Aamir Saeed Malik; Atif Anwer; Nur Afande Ali Hussain; Fabrice Meriaudeau

doi:10.1109/ROMA.2016.7847814

Control of autonomous underwater vehicle based on visual feedback for pipeline inspection

Amjad Khan, Syed Saad Azhar Ali, Aamir Saeed Malik, Atif Anwer, Nur Afande Ali Hussain, Fabrice Meriaudeau

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

For everyday inspection jobs in offshore oil and gas industry, the human divers are being replaced by underwater vehicles. This paper proposes a visual feedback based control of an autonomous underwater vehicle for pipeline inspection. The hydrodynamic disturbances in water severely affect the movement of the vehicle resulting in performance degrading. The heading of the autonomous underwater vehicle under such disturbances is controlled using visual feedback to track the pipeline for inspection. The proposed method does not demand expensive position feedback devices such as underwater acoustic positioning system. By using built-in camera of the vehicle and few image processing techniques a simpler, easier and low-cost solution is proposed. The performance evaluation of the proposed technique on sample underwater images is also presented.

Original language	English
Title of host publication	2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509009282
DOIs	https://doi.org/10.1109/ROMA.2016.7847814
State	Published - 8 Feb 2017
Externally published	Yes
Event	2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 - Ipoh, Malaysia Duration: 25 Sep 2016 → 27 Sep 2016

Publication series

Name	2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016

Conference

Conference	2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016
Country/Territory	Malaysia
City	Ipoh
Period	25/09/16 → 27/09/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

autonomous underwater vehicle
pipeline inspection
visual feedback

ASJC Scopus subject areas

Mechanical Engineering
Control and Systems Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/ROMA.2016.7847814

Cite this

Khan, A., Ali, S. S. A., Malik, A. S., Anwer, A., Hussain, N. A. A., & Meriaudeau, F. (2017). Control of autonomous underwater vehicle based on visual feedback for pipeline inspection. In 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 Article 7847814 (2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMA.2016.7847814

Khan, Amjad ; Ali, Syed Saad Azhar ; Malik, Aamir Saeed et al. / Control of autonomous underwater vehicle based on visual feedback for pipeline inspection. 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016. Institute of Electrical and Electronics Engineers Inc., 2017. (2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016).

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title = "Control of autonomous underwater vehicle based on visual feedback for pipeline inspection",

abstract = "For everyday inspection jobs in offshore oil and gas industry, the human divers are being replaced by underwater vehicles. This paper proposes a visual feedback based control of an autonomous underwater vehicle for pipeline inspection. The hydrodynamic disturbances in water severely affect the movement of the vehicle resulting in performance degrading. The heading of the autonomous underwater vehicle under such disturbances is controlled using visual feedback to track the pipeline for inspection. The proposed method does not demand expensive position feedback devices such as underwater acoustic positioning system. By using built-in camera of the vehicle and few image processing techniques a simpler, easier and low-cost solution is proposed. The performance evaluation of the proposed technique on sample underwater images is also presented.",

keywords = "autonomous underwater vehicle, pipeline inspection, visual feedback",

author = "Amjad Khan and Ali, {Syed Saad Azhar} and Malik, {Aamir Saeed} and Atif Anwer and Hussain, {Nur Afande Ali} and Fabrice Meriaudeau",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 ; Conference date: 25-09-2016 Through 27-09-2016",

year = "2017",

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doi = "10.1109/ROMA.2016.7847814",

language = "English",

series = "2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016",

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Khan, A, Ali, SSA, Malik, AS, Anwer, A, Hussain, NAA & Meriaudeau, F 2017, Control of autonomous underwater vehicle based on visual feedback for pipeline inspection. in 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016., 7847814, 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016, Institute of Electrical and Electronics Engineers Inc., 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016, Ipoh, Malaysia, 25/09/16. https://doi.org/10.1109/ROMA.2016.7847814

Control of autonomous underwater vehicle based on visual feedback for pipeline inspection. / Khan, Amjad; Ali, Syed Saad Azhar; Malik, Aamir Saeed et al.
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016. Institute of Electrical and Electronics Engineers Inc., 2017. 7847814 (2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - For everyday inspection jobs in offshore oil and gas industry, the human divers are being replaced by underwater vehicles. This paper proposes a visual feedback based control of an autonomous underwater vehicle for pipeline inspection. The hydrodynamic disturbances in water severely affect the movement of the vehicle resulting in performance degrading. The heading of the autonomous underwater vehicle under such disturbances is controlled using visual feedback to track the pipeline for inspection. The proposed method does not demand expensive position feedback devices such as underwater acoustic positioning system. By using built-in camera of the vehicle and few image processing techniques a simpler, easier and low-cost solution is proposed. The performance evaluation of the proposed technique on sample underwater images is also presented.

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Khan A, Ali SSA, Malik AS, Anwer A, Hussain NAA, Meriaudeau F. Control of autonomous underwater vehicle based on visual feedback for pipeline inspection. In 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016. Institute of Electrical and Electronics Engineers Inc. 2017. 7847814. (2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016). doi: 10.1109/ROMA.2016.7847814

Control of autonomous underwater vehicle based on visual feedback for pipeline inspection

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this