Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/6982
Título: A control framework for a remotely operated vehicle
Autor: Sousa, J. Borges de
Fraga, Sérgio
Martins, Alfredo
Pereira, F. L.
Palavras-chave: Remotely Operated Vehicle
Automated Maneuver
Underwater Inspection
Data: 2001
Resumo: A control framework enabling the automated maneuvering of a Remotely Operate Vehicle (ROV) is presented. The control architecture is structured according to the principle of composition of vehicle motions from a minimal set of elemental maneuvers that are designed and verified independently. The principled approach is based on distributed hybrid systems techniques, and spans integrated design, simulation and implementation as the same model is used throughout. Hybrid systems control techniques are used to synthesize the elemental maneuvers and to design protocols, which coordinate the execution of elemental maneuvers within a complex maneuver. This work is part of the Inspection of Underwater Structures (IES) project whose main objective is the implementation of a ROV-based system for the inspection of underwater structures.
URI: http://hdl.handle.net/10400.22/6982
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