Simulation and Feasibility Test of Mini-ROVs with AUV for the Manipulation Purpose

Abstract

We proposed a mini-ROV based underwater manipulation system for sophisticate object recovery task. The system includes the main AUV that operates the entire system and navigates underwater, and the mini-ROV as manipulator that mounts on the main AUV. We developed a small ROV that is specialized in underwater manipulation, devised methods for localization of the mini-ROV from the main AUV, and evaluated the performance of the mini-ROV's manipulation through sophisticate object recovery mission such as ghost net. Besides, we developed the mini-ROVs with AUV system simulator for validating the methods. The evaluation was carried out in an indoor water tank, and the results suggest that our cooperate system would be an effective manipulation method.