Inertial-measurement-based catenary shape estimation of underwater cables for tethered robots
Juliette Drupt,Claire Dune,Andrew I. Comport,Sabine Seillier,Vincent Hugel,Juliette Drupt,Claire Dune,Andrew I. Comport,Sabine Seillier,Vincent Hugel
This paper deals with the estimation of the shape of a catenary for a negatively buoyant cable, connecting a pair of underwater robots in a robot chain. The new estimation method proposed here is based on the calculation of local tangents thanks to the data acquired from inertial measurement units (IMUs), which are attached to the cable near its ends. This method is compared with a vision-based es...
