This paper introduces a novel Hybrid Cable Thruster Actuated Remotely Operated Underwater Vehicle (HCT-ROV), merging the strengths of ROVs and Cable-Driven Parallel Robots for enhanced underwater capabilities. It presents the world's first HCT-ROV prototype, together with a control law using Quadratic Programming (QP) for efficient operation. Extensive MATLAB simulations and prototype tests demonstrate superior performance in tasks like object transportation. This research work paves the way for advanced underwater exploration and operations, emphasizing the need for further optimization in real-world applications.
Hybrid Cable Thruster Actuated Remotely Operated Underwater Vehicle
Attia Y.;Simetti E.;
2024-01-01
Abstract
This paper introduces a novel Hybrid Cable Thruster Actuated Remotely Operated Underwater Vehicle (HCT-ROV), merging the strengths of ROVs and Cable-Driven Parallel Robots for enhanced underwater capabilities. It presents the world's first HCT-ROV prototype, together with a control law using Quadratic Programming (QP) for efficient operation. Extensive MATLAB simulations and prototype tests demonstrate superior performance in tasks like object transportation. This research work paves the way for advanced underwater exploration and operations, emphasizing the need for further optimization in real-world applications.
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