Path Generation for High-Performance Motion of ROVs Based on a Reference Model
Daniel de Almeida Fernandes, Asgeir J. SÃ ̧rensen, Décio Crisol Donha · Modeling Identification and Control A Norwegian Research Bulletin · 2015
This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions.The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications.The path planning problem is not in the scope of this work.A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described.Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited.Results from computer simulations and full-scale sea trials, both based on the NTNU's ROV Minerva, are presented and discussed.