Umbilical positioning using ultrasonic sensors

The work presented in this paper describes the development of an autonomous umbilical positioning system. The umbilical positioning system shall provide electrical power and fiber optic data cable connections between two simulated vehicles 100 meter apart. The Omnibot is used to provide the mobile base for the system. The mate-in umbilical plate is mounted on a three axis Cartesian manipulator, which is installed on the Omnibot mobile base. The Omnibot is controlled in a teleoperated mode. The operator using the vision system will guide the mobile base to get close to the mate-to plate. The information received from ultrasonic sensors is used to identify the position of mate-to plate and mate the umbilical plates autonomously. A successful experimentation verifies the approach.