High-precision bottom-followers are designed for remotely operated vehicles. In the framework of hierarchical control architectures able to uncouple the robot's kinematics (guidance) and dynamics (velocity control), the task of bottom-following is accomplished by suitable guidance task functions, which enable the system to handle unmodeled, i.e. not measured or estimated, kinematics interactions between the robot and the operating environment. In order to increase the bottom-followers' reliability, possible techniques are discussed for modeling and handling the environmental and measurement uncertainty in the estimate of the local interactions between the vehicle and the operating environment, i.e. altitude and bottom slope. In particular, according to at-sea operational experience, the problem of managing dropouts due to erroneous tracking of multi-path echoes by the ROV (Remotely Operated Vehicles) altimeter(s) is addressed. Results of a large set of pool trials carried out with the Romeo ROV are reported and discussed.
Bottom-following for remotely operated vehicles
Regelung des Abstandes vom Wasserboden für ferngelenkte Unterwasserfahrzeuge
Control Engineering Practice ; 11 , 4 ; 461-470
2003
10 Seiten, 11 Bilder, 11 Quellen
Article (Journal)
English
Bottom-Following for Remotely Operated Vehicles
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