Autonomous Trajectory Tracking Control Strategy of Overactuated Remotely Operated Vehicle

In this paper,three trajectory tracking control strategies are proposed for the ROV under scientific application with specific speed and heading requirements.Firstly,a virtual point is established on the specified path moving with the given speed.The Serret-Frenet (SF) coordinate frame is established based on the virtual points.The location and heading deviation between the ROV and the virtual point in the SF frame are calculated.Secondly, according to the overactuation and special configuration of thrusters of the target ROV,three trajectory tracking control methods are designed.The first strategy is designed under the classical SF frame,and control forces and moments are allocated with the pseudo-inverse method.The second strategy introduces the guidance method and control force and moment are allocated based on the feature of the non-circularly symmetric four thrusters.Besides,for the third strategy,the X axis in the classical SF frame is modified parallel to the desired ROV heading.Finally,the effectiveness of the proposed three control strategies is verified with comparative simulation tests.