| Autor: |
Olga I. Gladkova, Sergey A. Egorov, Vadim V. Veltishev |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms ISBN: 9783030378400 |
| Popis: |
The need for periodic monitoring of the technical conditions of various underwater metal structures with limited access for humans stimulates the development of new specialized underwater robotic vehicles. One of the most important requirements for such types of works is to ensure high accuracy of motion and positioning of the vehicle. It can be reached the means of remotely operated vehicles (ROVs) with hybrid propulsion systems (including both propellers and wheels). Complex processing of linear and angular movement sensors is used to solve the navigation problem. A comparative analysis of various combinations of these sensors to determine the coordinates of the ROV relative to the inspected object was carried out. Three algorithms of the trajectory movement were tested in trials. Experimental data led to the conclusions about the practical applicability of the proposed approach to the organization of survey work and the attainability of the positioning accuracy of the ROV. The correctness of the implemented algorithms was verified and the ways of system improvement were specified. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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