ROBUST project: Control framework for deep sea mining exploration

摘要

This paper presents the control framework under
\ndevelopment within the ROBUST Horizon 2020 project, whose
\ngoal is the development of an autonomous robotic system for
\nthe exploration of deep-sea mining sites. After a bathymetric
\nsurvey of the initial zone of interest, the robotized system selects
\na subarea deemed to have the most chances of containing a
\nmanganese nodule field and proceeds with a detailed low altitude
\nsurvey. Whenever a possible nodule is found, it performs an insitu
\nmeasurement through laser induced spectroscopy. To do so,
\nthe underwater vehicle must first land on the seafloor, with a
\ncertain precision to allow a subsequent fixed-based manipulation,
\nbringing its manipulator endowed with the laser system in
\nthe position to carry out the measurement. The work reports
\nthe developed control architecture and the simulation results
\nsupporting it.