Towards Teleoperation and Automatic Control Features of an Unmanned Surface Vessel-ROV System: Preliminary Results

Nava-Balanzar, Luciano; Sánchez-Gaytán, José Luis; Fonseca-Navarro, Fernando; Salgado-Jiménez, Tomás; García-Valdovinos, Luis G.; Rubio-Lopez, O.; Gómez-Espinosa, Alfonso; Ramirez-Martinez, A.

doi:10.5220/0006414302920299

Cited by 3 publications

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“…Recently, an unmanned ocean platform has been developed as a combination of USV and ROV or USV and a towed-system, as shown in Figure 1 below. These platforms are being developed to reduce costs and manpower incurred when using a ship [3][4][5][6]. As shown in Figure 1, it is difficult to explore a large area due to the operating characteristics of a ROV that combines an USV and a ROV.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable

Hong

Kim

2020

JMSE

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This paper describes a study on the dynamic modeling and the motion simulation of an unmanned ocean platform to overcome the limitations of existing unmanned ocean platforms for ocean exploration. The proposed unmanned ocean vehicle combines an unmanned surface vehicle and unmanned underwater vehicle with an underwater cable. This platform is connected by underwater cable, and the forces generated in each platform can influence each other’s dynamic motion. Therefore, before developing and operating an unmanned ocean platform, it is necessary to derive a dynamic equation and analyze dynamic behavior using it. In this paper, Newton’s second law and lumped-mass method are used to derive the equations of motion of unmanned surface vehicle, unmanned underwater vehicle, and underwater cable. As the underwater cable among the components of the unmanned ocean platform is expected to affect the motion of unmanned surface vehicle and unmanned underwater vehicle, the similarity of modeling is described by comparing with the cable modeling results and the experimental data. Finally, we constructed a dynamic simulator using Matlab and Simulink, and analyzed the dynamic behavior of the unmanned ocean platform through open-loop simulation.

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Section: Introductionmentioning

confidence: 99%

Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable

Hong

Kim

2020

JMSE

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“…TEXTRON Systems and Northrop Grumman developed CUSV and Spartan USV using a USV and a towed system, respectively. Spartan USV collaborated with the Naval Undersea Warfare Center in the United States to conduct a military purpose study to find underwater mines [1][2][3][4][5][6][7][8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Development and Field Test of Unmanned Marine Vehicle (USV/UUV) With cable

et al. 2020

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This paper presents the system, controller, and field test results of an unmanned marine vehicle (UMV) developed to acquire real-time ocean exploration information. The system consists of an unmanned surface vehicle (USV), an unmanned underwater vehicle (UUV), and an underwater cable. The developed platform is a research platform for ocean exploration and was proposed to compensate for the shortcomings of the existing USV, UUV, and towing system. This paper describes the proposed UMV, including the design considerations such as electronics architecture, data management, sensors, and actuators and explains the path control algorithm and controller used to follow the specified path for ocean exploration. In order to confirm the performance of the developed platform and control algorithm, a way-point tracking experiment was performed, and the results are shown.

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Remote Supervision of an Autonomous Surface Vehicle using Virtual Reality

Lager

Topp

2019

IFAC-PapersOnLine

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Towards Teleoperation and Automatic Control Features of an Unmanned Surface Vessel-ROV System: Preliminary Results

Cited by 3 publications

References 0 publications

Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable

Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable

Development and Field Test of Unmanned Marine Vehicle (USV/UUV) With cable

Remote Supervision of an Autonomous Surface Vehicle using Virtual Reality

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