Towards active self-management of umbilical linking ROV and USV for safer submarine missions

This article focuses on the active management of the umbilical of a Remotely Operated Vehicle (ROV) for shallow water exploration. The objective is to increase the ROV maneuverability by exploiting the mechanical model of the cable that links the ROV to an Unmanned Surface Vehicle (USV). The efforts...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2019-01, Vol.52 (21), p.265-270
Main Authors: Tortorici, Ornella, Anthierens, Cedric, Hugel, Vincent, Barthelemy, Herve
Format: Article
Language:English
Subjects:
Automatic
Cables
Computer Science
Engineering Sciences
Marine systems
Modeling and Simulation
Robotics
Simulation
Systems design
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Summary:This article focuses on the active management of the umbilical of a Remotely Operated Vehicle (ROV) for shallow water exploration. The objective is to increase the ROV maneuverability by exploiting the mechanical model of the cable that links the ROV to an Unmanned Surface Vehicle (USV). The efforts applied on the umbilical are studied in simulation. The numerical models implemented under SimulinkTM and VortexTM are used to define new strategies of control for the winch, the USV and the ROV in order to manage the umbilical.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2019.12.318