arXiv 2503.004822025-03-01cs.ROcs.SYeess.SY

用于ROV在渔网网箱巡检的导航系统

A Navigation System for ROV's inspection on Fish Net Cage

ZJU-Hangzhou Global Scientific and Technological Innovation Center（浙江大学杭州国际科技创新中心）；College of Biosystems Engineering and Food Science, Zhejiang University（浙江大学生物系统工程与食品科学学院）；Department of Biological and Agricultural Engineering, University of California, Davis（加州大学戴维斯分校生物与农业工程系）

Zhikang Ge, Fang Yang, Wenwu Lu, Peng Wei, Yibin Ying, Chen Peng

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AI总结：

本文将BlueROV2改造为基于ROS的框架，集成TagSLAM定位与NFC控制策略，实现了精确的轨迹跟踪，并在实验室环境下验证了该系统在渔网巡检中的有效性。

摘要：

自主遥控潜水器（ROV）为实现渔网巡检自动化、减少劳动力依赖及提高运营效率提供了有前景的解决方案。本文将现成的ROV（即BlueROV2）改造为基于ROS的框架，并开发了定位模块、路径规划系统和控制框架。为实现实时局部定位，我们采用开源的TagSLAM库。此外，我们提出了一种基于名义反馈控制器（NFC）的控制策略，以实现精确的轨迹跟踪。所提出的系统已在受控实验室环境中通过实验实现并验证，证明了其在实际应用中的有效性。

英文摘要：

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.

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