In this paper a framework composed of a hierarchical control architecture is proposed for accomplishing the task of bottom-following by using suitable guidance task functions. In particular, according to at-sea operational experience, the problem of managing dropouts due to erroneous tracking of multi-path echoes by the ROV altimeter(s) is addressed. Results of a large set of pool trials carried out with the Romeo ROV are reported and discussed.
Bottom-following for remotely operated vehicles: algorithms and experiments
Caccia M;Bruzzone G;Veruggio G
2003
Abstract
In this paper a framework composed of a hierarchical control architecture is proposed for accomplishing the task of bottom-following by using suitable guidance task functions. In particular, according to at-sea operational experience, the problem of managing dropouts due to erroneous tracking of multi-path echoes by the ROV altimeter(s) is addressed. Results of a large set of pool trials carried out with the Romeo ROV are reported and discussed.File in questo prodotto:
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