Trajectory generation for a remotely operated vehicle

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

Authors

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

Conference proceedings International

Title: European Control Conference, ECC 2003

Pages: 2899-2904

2003 European Control Conference, ECC 2003

1 September 2003 through 4 September 2003

Indexing

Scopus - 5 Citations

INSPEC

Scientific classification

FOS: Engineering and technology > Other engineering and technologies

CORDIS: Technological sciences

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific