Trajectory generation for a remotely operated vehicle

Detalhes bibliográficos
Autor(a) principal: Sérgio Loureiro Fraga
Data de Publicação: 2003
Outros Autores: João Borges Sousa, Fernando Lobo Pereira
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/71645
Resumo: 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.
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spelling Trajectory generation for a remotely operated vehicleCiências Tecnológicas, Outras ciências da engenharia e tecnologiasTechnological sciences, Other engineering and technologiesThis 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.20032003-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://hdl.handle.net/10216/71645engSérgio Loureiro FragaJoão Borges SousaFernando Lobo Pereirainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T13:17:52Zoai:repositorio-aberto.up.pt:10216/71645Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:37:50.648624Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Trajectory generation for a remotely operated vehicle
title Trajectory generation for a remotely operated vehicle
spellingShingle Trajectory generation for a remotely operated vehicle
Sérgio Loureiro Fraga
Ciências Tecnológicas, Outras ciências da engenharia e tecnologias
Technological sciences, Other engineering and technologies
title_short Trajectory generation for a remotely operated vehicle
title_full Trajectory generation for a remotely operated vehicle
title_fullStr Trajectory generation for a remotely operated vehicle
title_full_unstemmed Trajectory generation for a remotely operated vehicle
title_sort Trajectory generation for a remotely operated vehicle
author Sérgio Loureiro Fraga
author_facet Sérgio Loureiro Fraga
João Borges Sousa
Fernando Lobo Pereira
author_role author
author2 João Borges Sousa
Fernando Lobo Pereira
author2_role author
author
dc.contributor.author.fl_str_mv Sérgio Loureiro Fraga
João Borges Sousa
Fernando Lobo Pereira
dc.subject.por.fl_str_mv Ciências Tecnológicas, Outras ciências da engenharia e tecnologias
Technological sciences, Other engineering and technologies
topic Ciências Tecnológicas, Outras ciências da engenharia e tecnologias
Technological sciences, Other engineering and technologies
description 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.
publishDate 2003
dc.date.none.fl_str_mv 2003
2003-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/book
format book
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/10216/71645
url https://hdl.handle.net/10216/71645
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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