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3D Path Following and Tracking for an Inspection Class ROV

[+] Author Affiliations
Bent O. Arnesen, Anastasios M. Lekkas, Ingrid Schjølberg

Norwegian University of Science and Technology, Trondheim, Norway

Paper No. OMAE2017-61170, pp. V07AT06A019; 10 pages
doi:10.1115/OMAE2017-61170
From:
  • ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 7A: Ocean Engineering
  • Trondheim, Norway, June 25–30, 2017
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5773-1
  • Copyright © 2017 by ASME

abstract

This paper presents 3D path tracking simulations and path-following by experimental testing with a small inspection class ROV. The ROV is underactuated, but moves freely in surge, heave and yaw (4 DOF). Paths used are a spiral for path-tracking and a lawnmower pattern for path-following, where both paths are related to a proposed structural setting and a mission. The structure is a cylindrical fishing cage used for fish farming in the aquaculture, and the task is to perform inspection with equipped cameras and sensors while tracking or following the path.

Copyright © 2017 by ASME

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