Naslov
Tether Management System for Autonomous Inspection Missions in Mariculture Using an ASV and an ROV
(Tether Management System for Autonomous Inspection Missions in Mariculture Using an ASV and an ROV)

Autori
Kapetanović, Nadir ; Krčmar, Kristijan ; Mišković, Nikola ; Nađ, Đula

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles / - , 2022, 1-6

Skup
14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS 2022)

Mjesto i datum
Kongens Lyngby, Danska, 14.09.2022. - 16.09.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
marine robotics ; remotely operated vehicle (ROV) ; autonomous surface vehicle (ASV) ; tether management system (TMS) ; mariculture ; autonomous inspection

Sažetak
Cooperation of a remotely operated vehicle (ROV) and an autonomous surface vehicle (ASV) in prolonged robotic inspections missions in mariculture requires a tether management system (TMS) with a docking system mounted onto the ASV. The autonomous surface developed in the scope of HEKTOR (Heterogeneous Autonomous Robotic System in Viticulture and Mariculture) project is shortly presented. Furthermore, mechanical and electrical design of the TMS, the control scheme and communication protocol of the TMS with the ASV, and TMS-ROS interface for future high-level mission control are described. Laboratory pool trials of the TMS show that the chosen concept works in various settings.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA