Trajectory generation for a remotely operated vehicle

descriptionPublicationkeyboard_double_arrow_right Article , Conference object , Book 01 Sep 2003 Portugal Publisher:IEEEJournal:2003 European Control Conference (ECC)

Authors: Sérgio Loureiro Fraga; João Borges Sousa; Fernando Lobo Pereira;

doi: 10.23919/ecc.2003.7086480

handle: 10216/71631 , 10216/71645

Trajectory generation for a remotely operated vehicle

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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.

Country

Portugal

Related Organizations

University of Porto
Portugal
Universidade do Porto - Faculdade de Engenharia
Portugal

Keywords

Technological sciences, Other engineering and technologies, Ciências da engenharia e tecnologias::Outras ciências da engenharia e tecnologias, Ciências Tecnológicas, Outras ciências da engenharia e tecnologias, Engineering and technology::Other engineering and technologies

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	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average