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Hybrid methodology based on computational vision and sensor fusion for assisting autonomous UAV on offshore messenger cable transfer operation

Published online by Cambridge University Press:  31 January 2022

Gabryel S. Ramos Open the ORCID record for Gabryel S. Ramos [Opens in a new window] ,
Milena F. Pinto Open the ORCID record for Milena F. Pinto [Opens in a new window] ,
Fabricio O. Coelho ,
Leonardo M. Honório  and
Diego B. Haddad
Gabryel S. Ramos*
Affiliation:
Federal Center for Technological Education Celso Suckow da Fonseca (CEFET-RJ), Rio de Janeiro, Brazil
Milena F. Pinto
Affiliation:
Federal Center for Technological Education Celso Suckow da Fonseca (CEFET-RJ), Rio de Janeiro, Brazil
Fabricio O. Coelho
Affiliation:
Federal University of Juiz de Fora (UFJF), Juiz de Fora, Brazil
Leonardo M. Honório
Affiliation:
Federal University of Juiz de Fora (UFJF), Juiz de Fora, Brazil
Diego B. Haddad
Affiliation:
Federal Center for Technological Education Celso Suckow da Fonseca (CEFET-RJ), Rio de Janeiro, Brazil
*
*Corresponding author. E-mail: [email protected]
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Abstract

The recent development of new offshore projects in pre-salt deepwater fields has placed offshore loading operations as the main production outflow alternative, increasing the operational complexity and risks. Numerous dangerous situations are associated with oil offloading, such as the messenger line transfer during the mooring stage. Nowadays, this critical task is realized by launching a thin messenger cable using the pneumatic line throwing apparatus. This is a complex and slow process since the operation usually occurs with the ship opposite to the wind. This work proposes a hybrid flight methodology based on computer vision and sensor fusion techniques for autonomous unmanned aerial vehicles (UAVs). The UAV takes off from an oil rig and precisely reaches a specific point in the shuttle tanker without using expensive positioning devices and augmenting UAV’s orientation (yaw) precision since the compass can suffer from severe interference due to naval metallic structures near the vehicle. The proposed framework was tested in a realistic simulated environment considering several practical operational constraints. The results demonstrated both the robustness and efficiency of the methodology.

Keywords

shuttle tanker vessel operationscable transfer operationautonomous offshore technologiescomputer visionUAV
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2786 - 2814
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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