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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. Â(c) 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://hdl.handle.net/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 |
This item is licensed under a Creative Commons License
