Stability Constraints of ROV-Coordinated Hole Drilling on Shipwrecks

Remotely operated vehicle(ROV)-coordinated hole drilling on shipwrecks is a key technical component for achieving underwater drilling and oil extraction integration. Currently, research on this control scenario in the engineering field is limited, and effective methods for stabilizing the pose of RO...

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Bibliographic Details
Published in水下无人系统学报 Vol. 33; no. 3; pp. 504 - 510
Main Authors Dongjun GUO, Xuyang WANG
Format Journal Article
LanguageChinese
Published Science Press (China) 01.06.2025
Subjects
coordinated operation
oil extraction
pose control
remotely operated vehicle
shipwreck
underwater drilling
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Summary:Remotely operated vehicle(ROV)-coordinated hole drilling on shipwrecks is a key technical component for achieving underwater drilling and oil extraction integration. Currently, research on this control scenario in the engineering field is limited, and effective methods for stabilizing the pose of ROV-coordinated hole drilling on shipwrecks are lacking. This paper addressed the pose stability requirements during the ROV-coordinated hole drilling process on a shipwreck. By drawing parallels with the stability principles of ground-based equipment, a stability criterion for ROV-coordinated hole drilling on shipwrecks was established. Based on this criterion, a thrust correction algorithm was proposed. By modifying the thrust of each thruster, the force state of the collaborative system met the stability criterion, thereby achieving the stability constraints for the collaborative system’s pose. Simulation results show that the proposed stability constraint method can effectively maintain the pose stability of the
ISSN:2096-3920
DOI:10.11993/j.issn.2096-3920.2025-0037