Simultaneous Path-Generation and -Following for an ROV

Abstract

This thesis starts by introducing the facilities and systems used while conducting experiments. It then goes on to present the methods and techniques used for rendering and superimposition, to project a curved path onto the video feed from a Remotely Operated Vehicle.

Next, path-generation and path-following are discussed, and the maneuvering problem is introduced. The Serret-Frenet equations for curves are introduced. Then the controller, observer, and user input scheme used in this thesis are presented. The result from the tests on path-following are then presented and discussed.

The thesis then goes on to explain the implementation of simultaneous path-generation and -following. The results from these tests are presented and discussed.

From the laboratory experiment it was found that path-following and simultaneous path-generation and -following have a definite application for underwater ROVs, but some changes need to be made to optimize the performance. For simultaneous path-generation and -following, the algorithms need to be improved, both for computational performance and for physical performance.