Robotic system for off-shore infrastructure monitoring

摘要

In this paper, a novel modular reconfigurable mobile inspection robotic system is presented. The system consists of two underwater robotic platforms, including a tracked mobile robot for moving on rough terrain and a remotely operated vehicle robot for free underwater operation. Applications of the system include structural monitoring of off-shore infrastructure made of steel, concrete or other materials. The system is equipped with a 3D sonar, high-definition cameras and laser sensors to navigate underwater and locate structural defects. Mathematical models of the tracked robot are derived for operation underwater. Operation and verification of the ROV vision system is shown. The system sensing equipment is capable of performing simultaneous localisation and mapping tasks, thus an algorithm for navigation and localisation of defects based on sensor fusion is proposed and discussed.