Trajectory generation for a remotely operated vehicle
Autor: | S.L. Fraga, João Borges de Sousa, Fernando Lobo Pereira |
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Přispěvatelé: | Faculdade de Engenharia |
Rok vydání: | 2003 |
Předmět: |
Nonholonomic system
Engineering Technological sciences Other engineering and technologies business.industry Ciências Tecnológicas Outras ciências da engenharia e tecnologias Control engineering Remotely operated underwater vehicle Remotely operated vehicle computer.software_genre Computer Science::Robotics Outras ciências da engenharia e tecnologias [Ciências da engenharia e tecnologias] Trajectory Computer-aided Computer Aided Design Other engineering and technologies [Engineering and technology] Underwater Actuator business computer |
Zdroj: | ECC CIÊNCIAVITAE Authenticus Scopus-Elsevier Fernando Lobo Pereira |
DOI: | 10.23919/ecc.2003.7086480 |
Popis: | This paper addresses the problem of trajectory generation for a remotely operated vehicle (ROV). The ROV is a nonholonomic vehicle and has limited actuator capabilities. This means that the task of trajectory generation for the inspection of underwater structures is not a trivial one, and that it cannot be done without computer aided design tools. The approach is based on techniques developed for differential flat systems. The ROV model is presented and it is shown that it satisfies the differential flatness property. The paper details the architecture of the computer aided trajectory generation tool. Â(c) 2003 EUCA. |
Databáze: | OpenAIRE |
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