DocumentCode
3056788
Title
Dynamic positioning system for a small size ROV with experimental results
Author
Dukan, Fredrik ; Ludvigsen, Martin ; Sørensen, Asgeir J.
Author_Institution
Dept. of Marine Technol., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
fYear
2011
fDate
6-9 June 2011
Firstpage
1
Lastpage
10
Abstract
This paper presents a dynamic positioning system (DP) for a remotely operated vehicle (ROV). It has been developed and tested on a small size ROV called Minerva. The ROV control system hardware, software and architecture are presented together with a detailed description of the observers/state estimators. The DP system was developed by researchers at the Applied Underwater and Robotics Laboratory (AUR-Lab) at NTNU. Experimental results from testing and verification of station keeping and trajectory tracking are shown in this paper.
Keywords
marine vehicles; mobile robots; remotely operated vehicles; Applied Underwater and Robotics Laboratory; Minerva; ROV; dynamic positioning system; observer; remotely operated vehicle; state estimation; trajectory tracking; Control systems; Kalman filters; Observers; Propellers; Sensor systems; Signal detection;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS, 2011 IEEE - Spain
Conference_Location
Santander
Print_ISBN
978-1-4577-0086-6
Type
conf
DOI
10.1109/Oceans-Spain.2011.6003399
Filename
6003399
Link To Document