This paper presents 3D path tracking simulations and path-following by experimental testing with a small inspection class ROV. The ROV is underactuated, but moves freely in surge, heave and yaw (4 DOF). Paths used are a spiral for path-tracking and a lawnmower pattern for path-following, where both paths are related to a proposed structural setting and a mission. The structure is a cylindrical fishing cage used for fish farming in the aquaculture, and the task is to perform inspection with equipped cameras and sensors while tracking or following the path.
Volume Subject Area:
Ocean Engineering
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