Dynamic positioning system for a small size ROV with experimental results

Dynamic positioning system for a small size ROV with experimental results

This paper presents a dynamic positioning system (DP) for a remotely operated vehicle (ROV). It has been developed and tested on a small size ROV called Minerva. The ROV control system hardware, software and architecture are presented together with a detailed description of the observers/state estim...

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Bibliographische Detailangaben
Hauptverfasser: Dukan, F., Ludvigsen, M., Sorensen, A. J.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Kalman filters
Observers
Propellers
Sensor systems
Signal detection
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Beschreibung
Zusammenfassung:This paper presents a dynamic positioning system (DP) for a remotely operated vehicle (ROV). It has been developed and tested on a small size ROV called Minerva. The ROV control system hardware, software and architecture are presented together with a detailed description of the observers/state estimators. The DP system was developed by researchers at the Applied Underwater and Robotics Laboratory (AUR-Lab) at NTNU. Experimental results from testing and verification of station keeping and trajectory tracking are shown in this paper.
DOI:10.1109/Oceans-Spain.2011.6003399