Visual methods for advanced automation of underwater manipulation

水下操纵高级自动化的视觉方法

• 批准号: LP220100527
• 负责人: Prof Stefan Williams
• 金额: $ 29.39万
• 依托单位: The University of Sydney
• 依托单位国家: 澳大利亚
• 项目类别: Linkage Projects
• 财政年份: 2023
• 资助国家: 澳大利亚
• 起止时间: 2023-07-01 至 2026-06-30
• 项目状态: 未结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/LP220100527
• 关键词: Visual; methods; advanced; automation; underwater

This project will increase the autonomy of underwater robotic systems engaged in intervention and inspection tasks. Such activities are essential for the operation of subsea robotic systems used in offshore industries, scientific exploration and defence. Our approach will improve perception and situational awareness through the principled fusion of multiple navigation and camera sensors. We will use this improved scene understanding to effectively plan the motion of vehicles and manipulators through larger and more complex workspaces, enabling semi-supervised and autonomous task execution. Our project will demonstrate these capabilities in real-world deployments relevant to industry and marine science.

该项目将提高参与干预和检查任务的水下机器人系统的自主性。这些活动对于海上工业、科学勘探和国防中使用的海底机器人系统的运作至关重要。我们的方法将通过多个导航和摄像头传感器的原则性融合来提高感知和态势感知。我们将使用这种改进的场景理解来有效地规划车辆和机械手通过更大和更复杂的机器人的运动，从而实现半监督和自主任务执行。我们的项目将在与工业和海洋科学相关的实际部署中展示这些能力。