An adaptable walking-skid for seabed ROV under strong current disturbance

Si, JianTing; Chin, Chengsiong

doi:10.1007/s11804-014-1261-y

Cited by 9 publications

(8 citation statements)

References 16 publications

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“…This walking ROV would allow for visual inspection at high current sites. At the School of Marine Science and Technology in Newcastle University, UK they developed a multi-legged skid that could be retro-fitted to an ROV for tidal current pipeline inspection [51].…”

Section: Hydrodynamicsmentioning

confidence: 99%

Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

147

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This paper presents a review of inspection-class Remotely Operated Vehicles (ROVs). The review divides the classification of inspection-class ROVs; categorising the vehicles in order of size and capability. A state of the art technology review is undertaken, discussing various common subsystems of the ROV. Standard and novel ROV shapes and designs are reviewed, with emphasis on buoyancy, frame materials and hydrodynamics. Several power considerations and designs are discussed, accounting for battery fed and mains fed systems. ROV telemetry is split into a discussion on the various transmission hardware systems and the communication protocols that are most widely used in industry and research today. A range of thruster technologies is then introduced with consideration taken of the various thruster architectures available. Finally, the navigation and positioning sensors employed for ROV navigation and control are reviewed. The author has also created a number of comparison tables throughout the review; tables include comparison of wired data transmission technology, comparison of common ROV communication protocols and comparisons of various inertial navigation systems. By the end of the review the reader will have clearer understanding on the fundamentals of inspection-class ROV technologies and can use this as an introduction to further paper investigation.

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Section: Hydrodynamicsmentioning

confidence: 99%

Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

147

View full text Add to dashboard Cite

show abstract

“…The controller gains are chosen as = = V = 1. Figures 5-7 are depicted to validate the effectiveness of control algorithm in (16).…”

Section: Vehicle Platoon With Actuator Saturation and Absentmentioning

confidence: 99%

“…In [15], the authors propose control laws in the case of losing communications between the lead vehicle and the other vehicles in a platoon. Besides, disturbances, nonlinear, control input nonlinearities are also taken into consideration in many literatures [16,17]. However, the fundamental limitations, associated with both actuator saturation and absent velocity measurement, have not been fully studied.…”

Section: Introductionmentioning

confidence: 99%

Consensus Based Platoon Algorithm for Velocity-Measurement-Absent Vehicles with Actuator Saturation

Yan

Tang

Yang

et al. 2017

Journal of Advanced Transportation

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We investigate the vehicle platoon problems, where the actuator saturation and absent velocity measurement are taken into consideration. Firstly, a novel algorithm, where a smooth function is introduced to deal with the sharp corner of the input signals, is proposed for a group of vehicles with actuator saturation by using the consensus theory. Secondly, by applying an auxiliary system for the followers to estimate the velocities, a control strategy for the vehicle platoon with actuator saturation and absent velocity measurement is designed via the adaptive control approach. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.

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“…Because of the insensitivity to the dimension of problems, it is able to be used to search time invariant parameters [19]. It is a fact that AUVs have been widely applied in the marine resources exploration and utilization [20][21][22][23]. In order to map a scalar field, mutual information based multidimensional RRT algorithm was presented for multiple AUVs in [15].…”

Section: Journal Of Advanced Transportationmentioning

confidence: 99%

Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Zhang

et al. 2017

Journal of Advanced Transportation

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Motion planning is a crucial, basic issue in robotics, which aims at driving vehicles or robots towards to a given destination with various constraints, such as obstacles and limited resource. This paper presents a new version of rapidly exploring random trees (RRT), that is, liveness-based RRT (Li-RRT), to address autonomous underwater vehicles (AUVs) motion problem. Different from typical RRT, we define an index of each node in the random searching tree, called "liveness" in this paper, to describe the potential effectiveness during the expanding process. We show that Li-RRT is provably probabilistic completeness as original RRT. In addition, the expected time of returning a valid path with Li-RRT is obviously reduced. To verify the efficiency of our algorithm, numerical experiments are carried out in this paper.

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An adaptable walking-skid for seabed ROV under strong current disturbance

Cited by 9 publications

References 16 publications

Inspection-Class Remotely Operated Vehicles—A Review

Inspection-Class Remotely Operated Vehicles—A Review

Consensus Based Platoon Algorithm for Velocity-Measurement-Absent Vehicles with Actuator Saturation

Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

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