Experimental validation of open-frame ROV model for virtual reality simulation and control

Chin, Cheng Siong; Lin, Weipeng; Lin, Jun

doi:10.1007/s00773-017-0469-3

Cited by 27 publications

(19 citation statements)

References 20 publications

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“…To further research yaw angle motion of ROVer, this paper first derives the motion equation of ROVer on the horizontal surface. According to Society of Naval Architects and Marine Engineers (SNAME), the static coordinate system E − ξ η ζ and the dynamic coordinate system O ( G ) − xyz are established according to right-hand rule (Chin et al, 2018). The overall structure sketch is shown in Figure 1.…”

Section: Establishment Of Rov Dynamics Modelmentioning

confidence: 99%

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Song

Wang

et al. 2020

Transactions of the Institute of Measurement and Control

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Multi-vector arrangement is a novel propulsion architecture for remotely operated vehicles (ROV) because of its high manoeuvrability and efficiency, but the influence on the ROV dynamics and attitude servo control has not yet been clearly evaluated. This study fully investigated the kinematic behaviours of a hexagonal multi-vector propulsion ROV with communication delay constraint and reduced the complex model for precision control system design. An enhanced model-based PI robust controller (EMPRC) based on the nominal model is proposed to solve the nonlinear hydrodynamics and communication problems with high performance yaw control, whose stability is also analysed. The conventional proportional-integral-derivative (PID) and integral separation PID are used in the experiments for comparison. The results indicate that the proposed EMPRC can effectively track the desired attitude and reject the external disturbances, while the conventional ones are limited by the nonlinear dynamics and communication delays. The improvement is 3x on average in terms of overshoot, settling time and anti-disturbance recovery time compared to conventional algorithms and proves this proposed novel EMPRC is a practical solution for multi-vector propulsion ROVs.

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Section: Establishment Of Rov Dynamics Modelmentioning

confidence: 99%

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Song

Wang

et al. 2020

Transactions of the Institute of Measurement and Control

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“…Because of the insensitivity to the dimension of problems, it is able to be used to search time invariant parameters [19]. It is a fact that AUVs have been widely applied in the marine resources exploration and utilization [20][21][22][23]. In order to map a scalar field, mutual information based multidimensional RRT algorithm was presented for multiple AUVs in [15].…”

Section: Journal Of Advanced Transportationmentioning

confidence: 99%

Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Zhang

et al. 2017

Journal of Advanced Transportation

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Motion planning is a crucial, basic issue in robotics, which aims at driving vehicles or robots towards to a given destination with various constraints, such as obstacles and limited resource. This paper presents a new version of rapidly exploring random trees (RRT), that is, liveness-based RRT (Li-RRT), to address autonomous underwater vehicles (AUVs) motion problem. Different from typical RRT, we define an index of each node in the random searching tree, called "liveness" in this paper, to describe the potential effectiveness during the expanding process. We show that Li-RRT is provably probabilistic completeness as original RRT. In addition, the expected time of returning a valid path with Li-RRT is obviously reduced. To verify the efficiency of our algorithm, numerical experiments are carried out in this paper.

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“…Recently, more and more people pay attention to intelligent vehicle based on Cooperative Vehicle Infrastructure System [36][37][38][39][40][41][42][43]. Besides, vehicle control and system model was combined with transportation simulation [44][45][46][47][48][49][50][51][52].…”

Section: And Wu Investigated Lyapunov Concept Exponents and Applicatimentioning

confidence: 99%

Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

Peng

Guan

Zhang

et al. 2017

Journal of Advanced Transportation

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A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system.

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Experimental validation of open-frame ROV model for virtual reality simulation and control

Cited by 27 publications

References 20 publications

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

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