An Autonomous Underwater Vehicle Simulation With Fuzzy Sensor Fusion for Pipeline Inspection

Underwater pipeline inspection is an important topic in off-shore subsea operations. Remotely operated vehicles (ROVs) can play role multiple application areas including military, ocean science, aquaculture, shipping, and energy. However, using ROVs for not cost-effective, the fixed leak detection sensors mounted along have limited precision. Although cost be significantly reduced by applying autonomous underwater (AUVs), unstable current, low visibility, loss of GPS signal make navigation AUVs very challenging. Previous studies been conducted on coordinate-based, vision-based, fusion-based algorithms. coordinate-based algorithms suffered from denial signals while vision-based methods typically relied terrain landscape knowledge that required collection prior to mission. As a result these issues, system AUV incorporates vision sonar presented this article. In robot operating (ROS)/Gazebo-based simulation environment, had ability find navigate toward continuously traverse its length. Additionally, with chemical concentration sensor AUV, demonstrated capability inspecting reporting point resolution 3 m pipeline.