Trajectory generation for a remotely operated vehicle

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2003

Autores

Sérgio Loureiro Fraga (Autor) FEUP; João Borges Sousa (Autor) FEUP; Fernando Lobo Pereira (Autor) FEUP

Ata de Conferência Internacional

Título: European Control Conference, ECC 2003

Páginas: 2899-2904

2003 European Control Conference, ECC 2003

1 September 2003 through 4 September 2003

Indexação

Scopus - 5 Citações

INSPEC

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Outras ciências da engenharia e tecnologias

CORDIS: Ciências Tecnológicas

Outras Informações

ID Authenticus: P-00G-5N7

Abstract (EN): 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. © 2003 EUCA.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6