Title :
User-assisted trajectory generation- of underwater vehicles
Author :
Fraga, Sérgio Loureiro ; De Sousa, João Borges ; Pereira, Fernando Lobo
Author_Institution :
Fac. de Engenharia, Porto Univ., Portugal
Abstract :
This paper presents the user-assisted trajectory generation module of a control system for autonomous and remotely operated vehicles. The control system is composed of three main modules: user interface, trajectory generation and feedback control. The paper reports the integrated design of the user interface and of the trajectory generation module and discusses how this design can impact the overall system performance. The approach to trajectory generation is based on the techniques from differential flatness.
Keywords :
oceanographic techniques; position control; remotely operated vehicles; underwater vehicles; user interfaces; autonomous underwater vehicle; control system; differential flatness; feedback control; remotely operated vehicles; system performance; user interface; user-assisted trajectory generation; Boats; Control systems; Electronic mail; Feedback; Inspection; Remotely operated vehicles; Underwater structures; Underwater vehicles; User interfaces; Vehicle dynamics;
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
DOI :
10.1109/OCEANS.2003.178394
