Multi-domain inspection of offshore wind farms using an autonomous surface vehicle

• Type: Article in International Scientific Journal
• Date: 2021

Authors

Daniel Filipe Campos (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP; Andry Maykol Pinto (Author) FEUP

Journal

Title: SN Applied Sciences

Vol. 3

Pages: 1-19

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 10 Citations

Scopus - 15 Citations

Other information

Authenticus ID: P-00T-KEA

DOI: 10.1007/s42452-021-04451-5

Abstract (EN): The offshore wind power industry is an emerging and exponentially growing sector, which calls to a necessity for a cyclical monitoring and inspection to ensure the safety and efficiency of the wind farm facilities. Thus, the emersed (aerial) and immersed (underwater) scenarios must be reconstructed to create a more complete and reliable map that maximizes the observability of all the offshore structures from the wind turbines to the cable arrays, presenting a multi domain scenario.This work proposes the use of an Autonomous Surface Vehicle (ASV) to map both domains simultaneously. As such, it will produce a multi-domain map through the fusion of navigational sensors, GPS and IMU, to localize the vehicle and aid the registration process for the perception sensors, 3D Lidar and Multibeam echosounder sonar. The performed experiments demonstrate the ability of the multi-domain mapping architecture to provide an accurate reconstruction of both scenarios into a single representation using the odometry system as the initial seed to further improve the map with data filtering and registration processes. An error of 0.049 m for the odometry estimation is observed with the GPS/IMU fusion for simulated data and 0.07 m for real field tests. The multi-domain map methodology requires an average of 300 ms per iteration to reconstruct the environment, with an error of at most 0.042 m in simulation.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 19