Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/71645
Author(s): Sérgio Loureiro Fraga
João Borges Sousa
Fernando Lobo Pereira
Title: Trajectory generation for a remotely operated vehicle
Issue Date: 2003
Abstract: This paper addresses the problem of trajectory generation for a remotely operated vehicle (ROV). The ROV is a nonholonomic vehicle and has limited actuator capabilities. This means that the task of trajectory generation for the inspection of underwater structures is not a trivial one, and that it cannot be done without computer aided design tools. The approach is based on techniques developed for differential flat systems. The ROV model is presented and it is shown that it satisfies the differential flatness property. The paper details the architecture of the computer aided trajectory generation tool. © 2003 EUCA.
Subject: Ciências Tecnológicas, Outras ciências da engenharia e tecnologias
Technological sciences, Other engineering and technologies
Scientific areas: Ciências da engenharia e tecnologias::Outras ciências da engenharia e tecnologias
Engineering and technology::Other engineering and technologies
URI: https://repositorio-aberto.up.pt/handle/10216/71645
Source: European Control Conference, ECC 2003
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
License: https://creativecommons.org/licenses/by-nc/4.0/
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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