Self-Management of ROV Umbilical using sliding element: a general 3D-model - Full version
Auto-gestion de l'ombilical d'un ROV en utilisant des éléments glissants: modèle général 3D - Version complète
Résumé
The umbilical of Remote Operated Vehicle (ROV) has two main problems: it is subject to entanglement with obstacles or itself, and its shape is difficult to predict for navigation. To address these issues, this article proposes a passive self-management of an ROV's umbilical by adding one or two elements, like ballasts, buoys, or an oriented thruster, to stretch it and gives it a predictable shape. These elements can be fixed or move freely on the umbilical. In opposite to previous works, we propose a general model which can estimate the shape of the umbilical in three-dimension regardless of the orientation of the force applied to the elements, allowing to consider the presence of currents, passive or motorized elements on the tether, and the presence or not of TMS. Several examples of umbilical configuration are proposed, each one adapted to ROV exploration missions like near the surface, seafloor, wall, dive in presence of obstacles... The model is compared with results proposed in other works. The limits of the method are discussed.
Domaines
Automatique / Robotique
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Self-Management of ROV Umbilical 3D-model - Full version.pdf (5.87 Mo)
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