Trajectory generation design for underwater vehicles

被引：0
|
作者：
Fraga, SL [1 ]
Sousa, JB [1 ]
Pereira, FL [1 ]
机构：
[1] Univ Porto, Fac Engn, Inst Syst & Robot, P-4200465 Oporto, Portugal
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses the problem of trajectory generation for a remotely operated vehicle (ROV) (figure 1). 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.
引用
收藏
页码：664 / 669
页数：6
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