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This paper focuses on the inspection for sloping dam wall by a remotely operated vehicle (ROV). First, a dedicated ROV for dam inspection is described. Second, a fixed-distance tracking control strategy is proposed to guarantee the fixed camera-to-subject distance in sloping dam inspection, which is instrumental in sonar image fusion for the large-scale dam wall with a certain inclination. In addition,...
This paper proposes a novel control strategy for autonomous underwater vehicles (AUVs), named as path tracking, which combines the conventional path following and trajectory tracking control in order to achieve smooth spatial convergence and tight temporal performance as well. This idea is inspired by the previous work of Hindman [1] and Encarnacao [2], however, the path tracking design herein goes...
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