Digital Twins Below the Surface: Enhancing Underwater Teleoperation
CoRR(2024)
摘要
Subsea exploration, inspection, and intervention operations heavily rely on
remotely operated vehicles (ROVs). However, the inherent complexity of the
underwater environment presents significant challenges to the operators of
these vehicles. This paper delves into the challenges associated with
navigation and maneuvering tasks in the teleoperation of ROVs, such as reduced
situational awareness and heightened teleoperator workload. To address these
challenges, we introduce an underwater Digital Twin (DT) system designed to
enhance underwater teleoperation, enable autonomous navigation, support system
monitoring, and facilitate system testing through simulation. Our approach
involves a dynamic representation of the underwater robot and its environment
using desktop virtual reality, as well as the integration of mapping,
localization, path planning and simulation capabilities within the DT system.
Our research demonstrates the system's adaptability, versatility and
feasibility, highlighting significant challenges and, in turn, improving the
teleoperators' situational awareness and reducing their workload.
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