Trajectory generation for a remotely operated vehicle

Author

Fraga, Sergio Loureiro ; Sousa, Joao Borges ; Pereira, Fernando Lobo

Author_Institution

Faculdade de Engenharia da Universidade do Porto, Rua Dr. Roberto Frias, s/n 4200-465 Porto Portugal

fYear

2003

fDate

1-4 Sept. 2003

Firstpage

2899

Lastpage

2904

Abstract

This paper addresses the problem of trajectory generation for a remotely operated vehicle (ROV). The ROV is a nonholonomic vehicle and has limited actuator capabilities. This means that the task of trajectory generation for the inspection of underwater structures is not a trivial one, and that it cannot be done without computer aided design tools. The approach is based on techniques developed for differential flat systems. The ROV model is presented and it is shown that it satisfies the differential flatness property. The paper details the architecture of the computer aided trajectory generation tool.

Keywords

Actuators; Computational modeling; Computer architecture; Computers; Mathematical model; Trajectory; Vehicles; Differential flatness; Modeling; Nonlinear Systems; Remotely operated underwater vehicles; Trajectory generation;

fLanguage

English

Publisher

ieee

Conference_Titel

European Control Conference (ECC), 2003

Conference_Location

Cambridge, UK

Print_ISBN

978-3-9524173-7-9

Type

conf

Filename

7086480

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702426