Development of a Cell-based Planning and Control System Using PID Control for ROV Navigation in Regularly Shaped Pools

Araujo A.R.S.M.; Vargas L.A.C.; Felipe J.L.B.; Vilcarromero J.J.F.; Rivas J.R.R.; Alvarez N.M.R. · International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2025 (2025) · DOI: 10.1109/iceccme64568.2025.11277901

Resumen

This document proposes the novel planning and implementation of an autonomous navigation and trajectory system for a Remotely Operated Vehicle (ROV), specifically designed for controlled, shallow water environments. Our unique solution combines an innovative cell mapping and dedicated motion planner with PID control within a highly modular architecture, enabling the seamless and cost-effective integration of various sensors and Inertial Measurement Units (IMUs). This distinct approach demonstrates a significant step towards accessible, high-performance underwater robotics. This integration results in semi-autonomous robot capable of generating motion paths and mapping aquatic environments. The results obtained from the simulations demonstrate effective spatial coverage of the environment, reaching at least 95% of the areas visited. Intelligent behavior was observed in the system by prioritizing cells with high scores (close to 0.85), especially those near the center of the map, which evidences an active exploration strategy. This analysis validates the effectiveness of the score- and proximity-based planning approach, demonstrating the system's capability to navigate and map efficiently.

Instituciones: Universidad Peruana de Ciencias Aplicadas; Universidad San Ignacio de Loyola