Browsing SINTEF Open by Author "Amundsen, Herman Biørn"
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Autonomous ROV inspections of aquaculture net pens using DVL
Amundsen, Herman Biørn; Caharija, Walter; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)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 ... -
Robust adaptive backstepping DP control of ROVs
Ohrem, Sveinung Johan; Amundsen, Herman Biørn; Caharija, Walter; Holden, Christian (Peer reviewed; Journal article, 2022)Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, ... -
ROV Navigation in a Fish Cage with Laser-Camera Triangulation
Bjerkeng, Magnus Christian; Kirkhus, Trine; Caharija, Walter; Thielemann, Jens T; Amundsen, Herman Biørn; Ohrem, Sveinung Johan; Grøtli, Esten Ingar (Peer reviewed; Journal article, 2021)Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation ...