dc.contributor.author | Fernandes, Daniel de Almeida | |
dc.contributor.author | Sørensen, Asgeir Johan | |
dc.contributor.author | Donha, Decio C | |
dc.date.accessioned | 2018-01-02T11:56:56Z | |
dc.date.available | 2018-01-02T11:56:56Z | |
dc.date.created | 2015-08-17T09:47:43Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | Modeling, Identification and Control. 2015, 36 (2), 81-101. | nb_NO |
dc.identifier.issn | 0332-7353 | |
dc.identifier.uri | http://hdl.handle.net/11250/2474011 | |
dc.description.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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Norsk Forening for Automatisering | nb_NO |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.title | Path generation for high-performance motion of ROVs based on a reference model | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | publishedVersion | nb_NO |
dc.source.pagenumber | 81-101 | nb_NO |
dc.source.volume | 36 | nb_NO |
dc.source.journal | Modeling, Identification and Control | nb_NO |
dc.source.issue | 2 | nb_NO |
dc.identifier.doi | 10.4173/mic.2015.2.2 | |
dc.identifier.cristin | 1258271 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2015 The Authors. Published by the Norwegian Society of Automatic Control with the Creative Commons Attribution 3.0 Unported (CC BY 3.0) license. | nb_NO |
cristin.unitcode | 194,64,20,0 | |
cristin.unitname | Institutt for marin teknikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |