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Path tracking method for ROV deep-sea mining equipment
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Yu-heng CHEN1, Hai-cheng ZHANG1, Wei-sheng ZOU1, Qiu-hua LI2, Dao-lin XU1
Journal of Ship Mechanics | 2024, 28(11) : 1687 - 1699
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Journal of Ship Mechanics | 2024, 28(11): 1687-1699
• Hydrodynamics •
Path tracking method for ROV deep-sea mining equipment
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Yu-heng CHEN1, Hai-cheng ZHANG1, Wei-sheng ZOU1, Qiu-hua LI2, Dao-lin XU1
Affiliations
  • 1.College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China
  • 2.College of Aerospace Science, National University of Defense Technology, Changsha 410082, China
Published: 2024-11-20 doi: 10.3969/j.issn.1007-7294.2024.11.006
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To solve the path tracking problem of ROV deep-sea mining equipment, where a Mining Robot (MRT) is towed by a Remote Operated Vehicle (ROV), the motion model of a simplified ROV deep-sea mining equipment was established first. Then, a path tracking algorithm based on Linear Model Predictive Control (LMPC) and Nonlinear Model Predictive Control (NMPC) was proposed. Different from the traditional Model Predictive Control (MPC), the proposed Double Model Predictive Control (DMPC) algorithm consists of two parts: (1) the LMPC controller of MRT for calculation of the speed control law of MRT, which is used to quickly converge the tracking error of MRT; (2) the NMPC controller of the ROV for calculation of the control input of the ROV, which is used to follow the speed control law of the MRT. In the design of DMPC, constraints of state quantity and control quantity were considered effectively. In order to ensure the smoothness of ROV control input, the incremental control quantity constraint of ROV was introduced. Finally, simulation experiments were designed to verify the path tracking performance of MRT. Numerical simulation results demonstrate the effectiveness of the proposed algorithm.

deep sea mining equipment  /  ROV  /  mobile robot  /  model predictive control
Yu-heng CHEN, Hai-cheng ZHANG, Wei-sheng ZOU, Qiu-hua LI, Dao-lin XU. Path tracking method for ROV deep-sea mining equipment[J]. Journal of Ship Mechanics, 2024 , 28 (11) : 1687 -1699 . DOI: 10.3969/j.issn.1007-7294.2024.11.006
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Year 2024 volume 28 Issue 11
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Article Info
doi: 10.3969/j.issn.1007-7294.2024.11.006
  • Receive Date：2024-05-10
  • Online Date：2026-03-26
  • Published：2024-11-20
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  • Received：2024-05-10
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    1.College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China
    2.College of Aerospace Science, National University of Defense Technology, Changsha 410082, China
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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