Dexrov Project: Control Framework For Underwater Interaction Tasks

Enrico Simetti,Francesco Wanderlingh,Giuseppe Casalino,Giovanni Indiveri,Gianluca Antonelli

OCEANS 2017 - Aberdeen（2017）

引用 3|浏览18

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摘要

In this work, the control framework of the DexROV Horizon 2020 project is presented. The framework is based on the task priority concept, extended by the authors to allow the activation and deactivation of tasks. The general concepts of control objectives, task and actions are given. The execution of a pipeline's weld inspection is used as study case to test the proposed framework in a simulation setting.

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关键词

control framework,DexROV Horizon 2020 project,task priority concept,control objectives,DexROV project,underwater interaction tasks,pipeline weld inspection,control tasks,control actions

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