Positioning. Navigation and Awareness of the !VAMOS! Underwater Robotic Mining System

This paper presents the positioning, navigation and awareness (PNA) system developed for the Underwater Robotic Mining System of the !VAMOS! project [1]. It describes the main components of the !VAMOS! system, the PNA sensors in each of those components, the global architecture of the PNA system, an...

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Bibliographic Details
Main Authors: Almeida, J., Martins, A., Almeida, C., Dias, A., Matias, B., Ferreira, A., Jorge, P., Martins, R., Bleier, M., Nuchter, A., Pidgeon, J., Kapusniak, S., Silva, E.
Format: Conference Proceeding
Language:English
Subjects:
Presence network agents
Real-time systems
Sensor systems
Solid modeling
Three-dimensional displays
Virtual reality
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Summary:This paper presents the positioning, navigation and awareness (PNA) system developed for the Underwater Robotic Mining System of the !VAMOS! project [1]. It describes the main components of the !VAMOS! system, the PNA sensors in each of those components, the global architecture of the PNA system, and its main subsystems: Position and Navigation, Realtime Mine Modeling, 3D Virtual reality HMI and Real-time grade system. General results and lessons learn during the first mining field trial in Lee Moor, Devon, UK during the months of September and October 2017 are presented.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8593869