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<p>Operating remotely operated vehicles (ROVs) in underwater environments requires advanced skill due to challenges, such as limited visibility and environmental complexity. To address these issues, a human-in-the-loop system (HILS) is proposed to synchronize real-time robot motion and environment data with operator feedback for enhanced teleoperation control. Our framework integrates a cyber-physical operation system (CPOS) that captures and replicates the robot’s motion, posture, and environmental conditions, allowing operators to intuitively control the ROV as if physically present. The HILS framework uses a 6-DOF motion platform and combines real-time dynamics, sensor data fusion, and haptic feedback for an immersive operator experience. Experimental validation demonstrated that our system accurately translates operator commands into responsive robot motion while providing real-time feedback on environmental conditions. Results indicate that HILS offers a promising solution for effective and efficient ROV teleoperation, even in challenging underwater scenarios. Sensors attached to the platform measured the robot’s movements with high precision, enabling effective, low-latency feedback to the operator.</p>

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Development of human-in-the-loop based robot environment awareness and control framework for underwater robot operation

  • 期刊论文

  • 发表日期：

    2025年5月6日

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  • Daegil Park,
  • Jong Boo Han,
  • Yeongjun Lee,
  • Tae-Kyeong Yeu

摘要

Operating remotely operated vehicles (ROVs) in underwater environments requires advanced skill due to challenges, such as limited visibility and environmental complexity. To address these issues, a human-in-the-loop system (HILS) is proposed to synchronize real-time robot motion and environment data with operator feedback for enhanced teleoperation control. Our framework integrates a cyber-physical operation system (CPOS) that captures and replicates the robot’s motion, posture, and environmental conditions, allowing operators to intuitively control the ROV as if physically present. The HILS framework uses a 6-DOF motion platform and combines real-time dynamics, sensor data fusion, and haptic feedback for an immersive operator experience. Experimental validation demonstrated that our system accurately translates operator commands into responsive robot motion while providing real-time feedback on environmental conditions. Results indicate that HILS offers a promising solution for effective and efficient ROV teleoperation, even in challenging underwater scenarios. Sensors attached to the platform measured the robot’s movements with high precision, enabling effective, low-latency feedback to the operator.