Precise trajectory control for an inspection class ROV
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- 作者：Serdar Soylu serdar@uvic.ca" class="auth_mail" title="E-mail the corresponding author ; Alison A. Proctor ; proctora@me.uvic.ca" class="auth_mail" title="E-mail the corresponding author ; Ron P. Podhorodeski podhoro@me.uvic.ca" class="auth_mail" title="E-mail the corresponding author ; Colin Bradley cbr@me.uvic.ca" class="auth_mail" title="E-mail the corresponding author ; Bradley J. Buckham bbuckham@me.uvic.ca" class="auth_mail" title="E-mail the corresponding author
- 关键词：DVL ; Doppler velocity log ; EKF ; extended Kalman filter ; IMU ; inertial measurement unit ; NED ; north ; east ; down reference frame ; ROV ; remotely operated underwater vehicle ; SBL ; short baseline acoustic system ; UUB ; uniformly ultimately bounded ; wrt ; with respect to
- 刊名：Ocean Engineering
- 出版年：2016
- 出版时间：1 January 2016
- 年：2016
- 卷：111
- 期：Complete
- 页码：508-523
- 全文大小：2575 K
文摘
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We designed an adaptive sliding mode controller for use on an underwater vehicle.
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We implemented the controller on a Saab SeaEye Falcon ROV.
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We performed field trials to determine the effectiveness of the controller.
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The system provided decimetre level precision for position and heading control.