Path generation for high-performance motion of ROVs based on a reference model
Journal article, Peer reviewed
Published version
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http://hdl.handle.net/11250/2474011Utgivelsesdato
2015Metadata
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- Institutt for marin teknikk [3389]
- Publikasjoner fra CRIStin - NTNU [36890]
Sammendrag
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.