Go to:
Logótipo
Comuta visibilidade da coluna esquerda
Você está em: Start > Publications > View > Multi-domain inspection of offshore wind farms using an autonomous surface vehicle
Publication

Publications

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

Title
Multi-domain inspection of offshore wind farms using an autonomous surface vehicle
Type
Article in International Scientific Journal
Year
2021
Authors
Daniel Filipe Campos
(Author)
Other
The person does not belong to the institution. The person does not belong to the institution. The person does not belong to the institution. View Authenticus page Without ORCID
Aníbal Castilho Coimbra de Matos
(Author)
FEUP
View Personal Page You do not have permissions to view the institutional email. Search for Participant Publications View Authenticus page View ORCID page
Andry Maykol Pinto
(Author)
FEUP
View Personal Page You do not have permissions to view the institutional email. Search for Participant Publications View Authenticus page Without ORCID
Journal
Title: SN Applied SciencesImported from Authenticus Search for Journal Publications
Vol. 3
Pages: 1-19
Publisher: Springer Nature
Other information
Authenticus ID: P-00T-KEA
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
Documents
We could not find any documents associated to the publication.
Related Publications

Of the same authors

An Adaptive Velocity Obstacle Avoidance Algorithm for Autonomous Surface Vehicles (2019)
Article in International Conference Proceedings Book
Daniel Filipe Campos; Aníbal Castilho Coimbra de Matos; Andry Maykol Pinto

Of the same journal

Remote sensing and GIS applications in earth and environmental systems sciences (2021)
Another Publication in an International Scientific Journal
Chaminé, Helder I.; Pereira, Alcides J. S. C.; Teodoro, Ana ; Teixeira, José
Editorial of the topical collection "state of the art on autonomous robot systems and competitions" (2021)
Another Publication in an International Scientific Journal
Lau, N; Silva, MF; reis, lp; Cascalho, JM
Undrained shear strength of Lisbon Miocene clay: a reappraisal based on triaxial and pressuremeter test results (2022)
Article in International Scientific Journal
M. Matos Fernandes; Mafalda Lopes Laranjo
Micromouse 3D simulator with dynamics capability: a Unity environment approach (2021)
Article in International Scientific Journal
Zawadniak, PVF; Piardi, L; Brito, T; Lima, J; Paulo Gomes da Costa; Monteiro, ALR; Pedro Luís Cerqueira Gomes da Costa; Pereira, AI
Experiment and modelling of the strain-rate-dependent response during in vitro degradation of PLA fibres (2020)
Article in International Scientific Journal
Singh, A; Rui Miranda Guedes; Paiva, D; Magalhães, F. D.

See all (6)

Recommend this page Top
Copyright 1996-2025 © Faculdade de Direito da Universidade do Porto  I Terms and Conditions  I Acessibility  I Index A-Z
Page created on: 2025-08-12 at 18:49:55 | Privacy Policy | Personal Data Protection Policy | Whistleblowing