Self-management of ROV umbilical using sliding buoys and stop

Christophe Viel (1, 2, 3)

1 CNRS - Centre National de la Recherche Scientifique
2 Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
3 Lab-STICC_ROBEX - Equipe ROBotics for EXploration

This article extends results obtained in [21] on a passive self-management of the umbilical of a Removed Operated Vehicle (ROV) for underwater exploration by proposing a more efficient strategy adapted to the seafloor exploration. The objective of this methods is to give a predictable shape to the umbilical using moving elements to stretch it without a motorized system and so to avoid entanglement on the cable itself or with environmental obstacles. In opposite with previous methods, new strategy uses exclusively sliding buoys separated on the umbilical by stops, allowing to obtain smallest forbidden areas. A fast time-calculation model of the umbilical is developed, and experimentation in pool shows the effectiveness of the method.

Mots clés: Underwater robotics; cables management; cables model

Domaines: Automatique

Christophe Viel. Self-management of ROV umbilical using sliding buoys and stop. 2022. ⟨hal-03513290v2⟩