A control framework for a remotely operated vehicle

Sousa, J. Borges de; Fraga, Sérgio; Martins, Alfredo; Pereira, F. L.

http://hdl.handle.net/10400.22/6982

Use this identifier to reference this record.

Name:	Description:	Size:	Format:
ART_Fraga2_2001.PDF		304.1 KB	Adobe PDF	Download

Send Feedback

Authors

Abstract(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.