## “Path Generation for High-Performance Motion of ROVs Based on a Reference Model”Authors: Daniel de A. Fernandes, Asgeir J. Sørensen and Decio C. Donha,
Affiliation: NTNU, Department of Marine Technology, Centre for Autonomous Marine Operations and Systems (AMOS,NTNU) and Polytechnic School of the University of Sao Paulo
Reference: 2015, Vol 36, No 2, pp. 81-101. |

**Keywords:**Guidance system, Path generation, Reference model, ROV, Trajectory tracking

**Abstract:**This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described. Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited. Results from computer simulations and full-scale sea trials, both based on the NTNU's ROV Minerva, are presented and discussed.

PDF (4107 Kb) DOI: 10.4173/mic.2015.2.2

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**BibTeX:**

@article{MIC-2015-2-2,

title={{Path Generation for High-Performance Motion of ROVs Based on a Reference Model}},

author={Fernandes, Daniel de A. and Sørensen, Asgeir J. and Donha, Decio C.},

journal={Modeling, Identification and Control},

volume={36},

number={2},

pages={81--101},

year={2015},

doi={10.4173/mic.2015.2.2},

publisher={Norwegian Society of Automatic Control}

};