Bioinspired Visual Surge Control of a ROV

Abstract

This paper presents a novel application of biologically inspired control theory to ROVs. Drawing from the mechanisms used by birds and insects to approach objects, the proposed system applies the time-to-contact theory to autonomously control an ROV’s surge motion toward underwater targets using data from a single onboard camera. Once the ROV reaches the desired proximity to the object through this bio-inspired visual controller, the system transitions from visual-based surge control to the vehicle’s built-in positioning system to maintain its location near the target. To evaluate the effectiveness of the proposed method, a visual computer simulator was employed, and simulations were conducted in two distinct environments: near an underwater pillar and around a floating structure. These tests demonstrated the reliable performance of the visual control strategy. Overall, this bio-inspired approach marks a significant advancement in the field, enabling autonomous inspection and supervision tasks. It enhances operational safety and offers the potential to significantly reduce the costs associated with underwater operations.