Attitude Control System of a Highly Maneuverable Hybrid ROV for Ship-Hull Inspection

Gavrilina, Ekaterina; Veltishev, Vadim V.; Kropotov, Alexander

doi:10.23919/oceans44145.2021.9705753

Cited by 4 publications

(1 citation statement)

References 14 publications

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“…To enable underwater robots to complete tasks according to standards, a stable and reliable motion control system [10][11] and control algorithm [12] are necessary prerequisites and keys. Only with this can the motion and attitude of underwater robots [13] be effectively controlled. On this basis can further expand to achieve other functions.…”

Section: Introductionmentioning

confidence: 99%

Research on motion control system of underwater remotely operated vehicles

Chen,

Sun,

Chen

2024

Sixth Conference on Frontiers in Optical Imaging and Technology: Applications of Imaging Technologies

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Remotely Operated Vehicles (ROV) is playing an increasingly important role in the process of human exploration of the ocean, and its motion control system needs to be stable, reliable, rapidly responsible and easy to use. This paper designs and implements a new type of motion control system for ROV. The architecture of control system includes QT upper controller to input motion control instructions and display the status information, companion machine Raspberry PI used as a communicate transfer station, and runs the designed control method, bottom controller MCU for controlling the speed of motors and receiving sensor data and sending them upward. Meanwhile the kinematics and dynamics model of ROV are established. Then, the model-based PID controller of depth and three attitude angles in YPR-model is designed and implemented. Its performance is verified by simulation in MATLAB. Finally, in swimming pool the experiment of depth and three attitude angles control using model-based PID and model-free PID are conducted and compared. Through experimental analysis, the practicability, stability and reliability of the motion control system and the model-based PID control method are verified.

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Section: Introductionmentioning

confidence: 99%

Research on motion control system of underwater remotely operated vehicles

Chen,

Sun,

Chen

2024

Sixth Conference on Frontiers in Optical Imaging and Technology: Applications of Imaging Technologies

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Electrical and Electronic Architecture of an ROV

Chava,

Ranjan,

Dudani

et al. 2023

2023 4th International Conference for Emerging Technology (INCET)

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A Digital Twin Infrastructure for NGC of ROV during Inspection

Scaradozzi,

Gioiello,

Ciuccoli

et al. 2024

Robotics

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Remotely operated vehicles (ROVs) provide practical solutions for a wide range of activities in a particularly challenging domain, despite their dependence on support ships and operators. Recent advancements in AI, machine learning, predictive analytics, control theories, and sensor technologies offer opportunities to make ROVs (semi) autonomous in their operations and to remotely test and monitor their dynamics. This study moves towards that goal by formulating a complete navigation, guidance, and control (NGC) system for a six DoF BlueROV2, offering a solution to the current challenges in the field of marine robotics, particularly in the areas of power supply, communication, stability, operational autonomy, localization, and trajectory planning. The vehicle can operate (semi) autonomously, relying on a sensor acoustic USBL localization system, tethered communication with the surface vessel for power, and a line of sight (LOS) guidance system. This strategy transforms the path control problem into a heading control problem, aligning the vehicle’s movement with a dynamically calculated reference point along the desired path. The control system uses PID controllers implemented in the navigator flight controller board. Additionally, an infrastructure has been developed that synchronizes and communicates between the real ROV and its digital twin within the Unity environment. The digital twin acts as a visual representation of the ROV’s movements and considers hydrodynamic behaviors. This approach combines the physical properties of the ROV with the advanced simulation and analysis capabilities of its digital counterpart. All findings were validated at the Point Rouge port located in Marseille and at the port of Ancona. The NGC implemented has proven positive vehicle stability and trajectory tracking in time despite external interferences. Additionally, the digital part has proven to be a reliable infrastructure for a future bidirectional communication system.

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Attitude Control System of a Highly Maneuverable Hybrid ROV for Ship-Hull Inspection

Cited by 4 publications

References 14 publications

Research on motion control system of underwater remotely operated vehicles

Research on motion control system of underwater remotely operated vehicles

Electrical and Electronic Architecture of an ROV

A Digital Twin Infrastructure for NGC of ROV during Inspection

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