Autonomous ROV inspections of aquaculture net pens using DVL
Peer reviewed, Journal article
Accepted version
Permanent lenke
https://hdl.handle.net/11250/3021629Utgivelsesdato
2021Metadata
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- Publikasjoner fra CRIStin - SINTEF Ocean [1311]
- SINTEF Ocean [1383]
Originalversjon
10.1109/JOE.2021.3105285Sammendrag
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.