Underwater pipeline inspection method for AUV based on laser line recognition: simulation results

The paper focuses on the scenario of automatic inspection of underwater pipelines with the help of AUV. The pipeline coordinates are determined by detecting the projection of the laser line. Such information is used to organize precise target-oriented AUV movement near the pipeline. Control algorithms were debugged using a high-performance computing cluster interfaced with a real AUV navigation and control system. Simulation experiment results for various pipeline locations on a bottom surface are discussed.