Trajectory generation design for underwater vehicles

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

Autores

S. L. Fraga (Autor) Outra; João Sousa (Autor) FEUP; Fernando Pereira (Autor) FEUP

Ata de Conferência Internacional

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

Páginas: 664-669

11th International Conference on Advanced Robotics (ICAR 2003)

COIMBRA, PORTUGAL, JUN 30-JUL 03, 2003

Indexação

ISI Web of Knowledge - 0 Citações

ISI Web of Science

Classificação Científica

CORDIS: Ciências Tecnológicas

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6