Autonomous robotic intervention using ROV: An experimental approach

Using an experimental approach, this paper proposes a semi-autonomous agent architecture for a remotely operated vehicle (ROV). The system is inspired by Behavior- and Reactive-based architectures using stimulus response blocks to segment behavior. The capability and limitations of the system is demonstrated through a field experiment, where the goal is to approach and localize a structure of interest (SOI). The system is tested using Hardware-In the-Loop (HIL) simulations before deployment. The motivation for our approach is testing and verification of architecture feasibility in an environment similar to an operational situation. The results from the field campaigns demonstrate the ROV agent able to execute an inspection type mission, navigating to the SOI from surface, while avoiding obstacles.