Cristin-resultat-ID: 1933263
Sist endret: 2. februar 2022, 15:24
NVI-rapporteringsår: 2021
Resultat
Vitenskapelig artikkel
2021

Autonomous ROV inspections of aquaculture net pens using DVL

Bidragsytere:
  • Herman Biørn Amundsen
  • Walter Caharija og
  • Kristin Ytterstad Pettersen

Tidsskrift

IEEE Journal of Oceanic Engineering
ISSN 0364-9059
e-ISSN 1558-1691
NVI-nivå 1

Om resultatet

Vitenskapelig artikkel
Publiseringsår: 2021
Publisert online: 2021
Trykket: 2022
Volum: 47
Hefte: 1
Open Access

Importkilder

Scopus-ID: 2-s2.0-85118281065

Beskrivelse Beskrivelse

Tittel

Autonomous ROV inspections of aquaculture net pens using DVL

Sammendrag

This article presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on measurements from a Doppler velocity log (DVL) and uses the measured length of the DVL beam vectors to approximate the geometry of a local region of the net pen in front of the ROV. The ROV position and orientation relative to this net pen approximation are used as inputs to a nonlinear guidance law. The guidance law is based upon the line-of-sight (LOS) guidance law. By utilizing that an ROV is fully actuated in the horizontal plane, the crosstrack error is minimized independently of the ROV heading. A Lyapunov analysis of the closed-loop system with this guidance law shows that the ROV is able to follow a continuous path in the presence of a constant irrotational ocean current. Finally, results from simulations and experiments demonstrating the performance of the net pen approximation and control system are presented.

Bidragsytere

Herman Biørn Amundsen

  • Tilknyttet:
    Forfatter
    ved Havbruk ved SINTEF Ocean
  • Tilknyttet:
    Forfatter
    ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet

Walter Caharija

  • Tilknyttet:
    Forfatter
    ved Havbruk ved SINTEF Ocean

Kristin Ytterstad Pettersen

  • Tilknyttet:
    Forfatter
    ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet
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