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Published on Jul 1, 2017in IEEE Transactions on Neural Networks 7.98
Zhenzhong Chu1
Estimated H-index: 1
(Shanghai Maritime University),
Daqi Zhu11
Estimated H-index: 11
(Shanghai Maritime University),
Simon X. Yang35
Estimated H-index: 35
(University of Guelph)
This paper focuses on the adaptive trajectory tracking control for a remotely operated vehicle (ROV) with an unknown dynamic model and the unmeasured states. Unlike most previous trajectory tracking control approaches, in this paper, the velocity states and the angular velocity states in the body-fixed frame are unmeasured, and the thrust model is inaccurate. Obviously, it is more in line with the actual ROV systems. Since the dynamic model is unknown, a new local recurrent ...
44 Citations Source Cite
Published on Sep 1, 2014 in Intelligent Robots and Systems
Paulo Drews8
Estimated H-index: 8
(Universidade Federal do Rio Grande do Sul),
Armando Alves Neto9
Estimated H-index: 9
(Universidade Federal de São João del-Rei),
Mario Fernando Montenegro Campos23
Estimated H-index: 23
(Universidade Federal de Minas Gerais)
The complete modeling and simulation of an unmanned vehicle with combined aerial and underwater ca- pabilities, called Hybrid Unmanned Aerial Underwater Vehicle (HUAUV), is presented in this paper. The best architecture for this kind of vehicle was evaluated based on the adaptation of typical platforms for aerial and underwater vehicles, to allow the navigation in both environments. The model selected was based on a quadrotor-like aerial platform, adapted to dive and ...
15 Citations Source Cite
Published on Dec 1, 2016 in International Conference on Robotics and Automation
Joe Johnson1
Estimated H-index: 1
(SRM University),
G. Madhumitha (SRM University)+ 1 AuthorsShyam Harikrishnan (SRM University)
Underwater marine exploration still remains a mystery. The purpose of this paper is to address the issues in design and development of underwater vehicles with obstacle avoidance and maneuvering assistance for operator in marine environment using fuzzy logic controller. A symmetrical, cost effective and small sized underwater Remotely Operated Vehicle (ROV) with three thrusters is designed for testing control algorithm and performance of system. Kinematics of the ROV ...
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Published on Apr 1, 2019 in International Conference on Robotics and Automation
This letter studies the problem of autonomous navigation for unmanned underwater vehicles, using computer vision for localization. Parallel tracking and mapping is employed to localize the vehicle with respect to a visual map, using a single camera, whereas an extended Kalman filter (EKF) is used to fuse the visual information with data from an inertial measurement unit, in order to recover the scale of the map and improve the pose estimation. A proportional integral derivative con...
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Published on May 1, 2011 in International Conference on Robotics and Automation
Ian C. Rust3
Estimated H-index: 3
(Massachusetts Institute of Technology),
H. Harry Asada53
Estimated H-index: 53
(Massachusetts Institute of Technology)
A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeball ROV can move in any direction with non-holonomic constraints. In this paper the design concept is presented first, followed by dynamic and hydrodynamic analysis. Due to ...
18 Citations Source Cite
Published on Jan 1, 2017in Journal of Navigation 1.58
Chu Zhenzhong1
Estimated H-index: 1
,
Zhu Daqi1
Estimated H-index: 1
+ 1 AuthorsJan Gene Eu1
Estimated H-index: 1
This paper focuses on depth trajectory tracking control for a Remotely Operated Vehicle (ROV) with dead-zone nonlinearity and saturation nonlinearity of thruster; an adaptive sliding mode control method based on neural network is proposed. Through the analysis of dead-zone nonlinearity and saturation nonlinearity of thruster, the depth trajectory tracking control system model of a ROV which uses thruster control signals as system input has been established. According to the ...
11 Citations Source Cite
Alexander A. Dyda1
Estimated H-index: 1
(Far Eastern Federal University),
Dmitry A. Oskin1
Estimated H-index: 1
(Far Eastern Federal University)
+ 1 AuthorsAndrea Monteriù10
Estimated H-index: 10
(Marche Polytechnic University)
Summary The paper is devoted to a new adaptive variable-structure system (VSS) control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of sliding mode parameter (SMP) in order to have adaptation in VSS. It is demonstrated that the extreme values of SMPs are directly associated with high efficiency of transient processes in VSS. The essence of the presented adaptation algorithm consists on the adjustment of switching surface parameters such that ...
5 Citations Source Cite
Published on May 1, 2010 in International Conference on Robotics and Automation
Louis L. Whitcomb48
Estimated H-index: 48
(Johns Hopkins University),
Michael V. Jakuba17
Estimated H-index: 17
(Johns Hopkins University)
+ 6 AuthorsDana R. Yoerger40
Estimated H-index: 40
(Woods Hole Oceanographic Institution)
This paper reports an overview of the navigation and control system design for the new Nereus hybrid underwater robotic vehicle (HROV). Vehicle performance during its first sea trials in November 2007 near Hawaii, and in May and June 2009 in the Challenger Deep of the Mariana Trench is reported. During the latter expedition, the vehicle successfully performed scientific observation and sampling operations at depths exceeding 10,903 m. The Nereus underwater vehicle is ...
20 Citations Source Cite
Published on Jan 31, 2014in International Journal of Advanced Robotic Systems 0.95
Luis G. Garcia-Valdovinos2
Estimated H-index: 2
,
Tomás Salgado-Jiménez2
Estimated H-index: 2
+ 3 AuthorsJosé Antonio Cruz-Ledesma1
Estimated H-index: 1
Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and t...
173 Citations Source Cite
Published on Jan 1, 2016in IFAC-PapersOnLine
A.A. Dyda1
Estimated H-index: 1
(Maritime State University),
Dmitry A. Oskin1
Estimated H-index: 1
(Far Eastern Federal University)
+ 1 AuthorsAndrea Monteriù10
Estimated H-index: 10
(Marche Polytechnic University)
Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived...
1 Citations Source Cite