IEEE Robotics & Automation Magazine - September 2015 - 80

E−N Plot

-8.08
-8.1
d
East (m)

-8.12
-8.14
-8.16
-8.18

VD Measurement
VD Estimate

-8.2
(a)

55

60

65

70
75
North (m)

80

85

(a)
N−E Plot
60
55
50
North (m)

d

20
-20 -15 -10 -5

Setup 0 Simulation Experiments [ Figure 9(a)]
Both the surface vehicle and the diver are simulated to test the
implemented algorithms for errors and to determine the best
possible performance of the diver-tracking system. This step
naturally eliminates any type of uncertainty.
*

September 2015

ROV Position Measurement
ROV Position Estimate
0

5 10 15 20 25 30
East (m)
(b)
N−E Plot

60
50
North (m)

sensor compared with the nominal accuracy specifications is
expected.
The greatest source of
uncertainty is definitely
The diver's area of
the human diver. Even
though the diver can be
operation can be increased instructed to execute preplanned missions reif the diving buoy is linked
quired in an experiment,
there is always the issue of
to the diver via a cable.
bubble emission, due to
breathing, which may obstruct the communication
channel. In addition to that, diver motion can cause different
positioning of the modem relative to the USBL, influencing
the quality of the acoustic communication and sometimes
causing obstruction of the acoustic line of sight.
To perform the structured experiments with the diver, a
step-by-step experimental plan is designed to examine the influence of the abovementioned uncertainties.

IEEE ROBOTICS & AUTOMATION MAGAZINE

35
25

Figure 10. The visual ground truth of the obtained results: (a)
a video still from experimental setup 2 and (b) a video still
from experimental setup 3. The ROV and the diver are detected
in video images, and their distance to the image center is
determined as the true tracking error. Note the bubble clouds
that may obstruct the acoustic channel.

*

40
30

(b)

80

45

40
30
20
Diver Position Measurement
Diver Position Estimate

10
-20

-10

0
10
East (m)

20

30

(c)
Figure 11. The position plots of tracked agents (VD, ROV,
and human diver) during transect following in all conducted
experiments. The red asterisks indicate the intermittent and noisy
raw USBL measurements, while the blue lines show estimates
of the positions based on the diver kinematic and dynamic
model. Under the assumption that the agents were tracking the
transect with little lateral deviation, variation of the measured
and estimated positions in three experimental setups indicate the
influence of different uncertainties. (a) Setup 1: VD and PlaDyPos.
(b) Setup 2: ROV and PlaDyPos. (c) Setup 3: diver and PlaDyPos.

Setup 1 VD and PlaDyPos [Figure 9(b)]
The platform, placed in a real environment, tracks the VD
that is simulated using a simple mathematical model given



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2015

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