Trajectory generation design for underwater vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2003

Authors

S. L. Fraga (Author) Other; João Sousa (Author) FEUP; Fernando Pereira (Author) FEUP

Conference proceedings International

Title: PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3

Pages: 664-669

11th International Conference on Advanced Robotics (ICAR 2003)

COIMBRA, PORTUGAL, JUN 30-JUL 03, 2003

Indexing

ISI Web of Knowledge - 0 Citations

ISI Web of Science

Scientific classification

CORDIS: Technological sciences

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-000-KD6

Abstract (EN): This paper addresses the problem of trajectory generation for a remotely operated vehicle (ROV) (figure 1). 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6