Title :
Dynamic positioning system for a small size ROV with experimental results
Author :
Dukan, Fredrik ; Ludvigsen, Martin ; Sørensen, Asgeir J.
Author_Institution :
Dept. of Marine Technol., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
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.
Keywords :
marine vehicles; mobile robots; remotely operated vehicles; Applied Underwater and Robotics Laboratory; Minerva; ROV; dynamic positioning system; observer; remotely operated vehicle; state estimation; trajectory tracking; Control systems; Kalman filters; Observers; Propellers; Sensor systems; Signal detection;
Conference_Titel :
OCEANS, 2011 IEEE - Spain
Conference_Location :
Santander
Print_ISBN :
978-1-4577-0086-6
DOI :
10.1109/Oceans-Spain.2011.6003399
