Model comparison of a VideoRay Pro 4 Underwater ROV

Simon Pedersen, Thomas Thuesen Enevoldsen, Emil Már Einarsson

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

3 Citations (Scopus)

Abstract

This study outlines a grey-box control-oriented model comparison of a VideoRay Pro 4 Un-derwater Inspection ROV with autonomous features. The respective models are developed and identified in previous studies and are based on three different model principles. The models are evaluated based on open-loop experimental tests with and without multiple thruster actuation. The tests show significant dynamic coupling between several motions, which none of the models estimate with sufficient accuracy without model extensions. Overall, it is concluded that all the three models are accurate in cases where the primary motions are directly actuated but also inaccurate when dynamic couplings exist.
Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Number of pages6
Volume2018-July
PublisherIEEE Press
Publication dateJul 2018
Pages899-904
Article number8452445
ISBN (Print)978-1-5386-1855-4
ISBN (Electronic)978-1-5386-1854-7
DOIs
Publication statusPublished - Jul 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018
http://aim2018.org/

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Country/TerritoryNew Zealand
CityAuckland
Period09/07/201812/07/2018
Internet address
SeriesIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
ISSN2159-6255

Keywords

  • Mathematical model
  • Solid modeling
  • Force
  • Drag
  • Buoyancy
  • Couplings
  • Dynamics

Fingerprint

Dive into the research topics of 'Model comparison of a VideoRay Pro 4 Underwater ROV'. Together they form a unique fingerprint.

Cite this