A Navigation System for ROV's inspection on Fish Net Cage
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866929738059087872 |
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| author | Ge, Zhikang Yang, Fang Lu, Wenwu Wei, Peng Ying, Yibin Peng, Chen |
| author_facet | Ge, Zhikang Yang, Fang Lu, Wenwu Wei, Peng Ying, Yibin Peng, Chen |
| contents | Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_00482 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Navigation System for ROV's inspection on Fish Net Cage Ge, Zhikang Yang, Fang Lu, Wenwu Wei, Peng Ying, Yibin Peng, Chen Robotics Systems and Control Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications. |
| title | A Navigation System for ROV's inspection on Fish Net Cage |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.00482 |