Abstract
A technique for motion estimation of a tether cable of an observation class ROV is proposed in this paper. A simulation procedure based on the lumped mass method is adopted for the motion and shape estimation of the cable. Deployment of the tether cable from a starting point is approximately treated locating the mass points at the starting point. These mass points are deployed and follow the leading part of the cable. The simulation results are compared with results from tank experiments and the validity of the simulation technique is confirmed. Examples of path planning for the inspection of a pontoon type floating structure is also shown.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Journal of the Japan Society of Naval Architects and Ocean Engineers
Paper Title
Journal
Date
