| Nome: | Descrição: | Tamanho: | Formato: | |
|---|---|---|---|---|
| 304.1 KB | Adobe PDF |
Orientador(es)
Resumo(s)
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.
Descrição
Palavras-chave
Remotely Operated Vehicle Automated Maneuver Underwater Inspection