“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.

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  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},
  publisher={Norwegian Society of Automatic Control}