Abstract

In this paper, we describe guidance, control and the collision avoidance manoeuver for ongoing project on Spilled Oil and blowout gas Tracking Autonomous Buoy system SOTAB-I. Operational modes of SOTAB-I are presented. In the vertical distribution mode, PID controller is used to control robot depth by adjusting robot buoyancy. In addition, the effect of wing control to reduce robot drifting in the water current is discussed. Rough mode corresponding control is detailed. Line tracking method based on the control of two movable fins and buoyancy control device was adopted to surmount the previous point-to-point control weaknesses. Speed control is used for collision avoidance maneuver to smoothly freeze robot submergence beyond the critical altitude.

Keywords:
water current, control system, collision avoidance maneuver, buoyancy control device, coefficient, operational mode, controller, experiment, subsea system, oil and gas
Subjects:
Offshore Facilities and Subsea Systems, Information Management and Systems, Remotely operated vehicles
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2014. International Society of Offshore and Polar Engineers
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