An adaptation for a commercial ROV to inspect the bridges undermining on the Mexican rivers: Dynamic and kinematic modelling simplification and control

Abstract

Current article presents the development of a dynamic and kinematic model for a Remote Operated Vehicle (ROV) system, which objective is the inspection of the bridges undermining at the Mexican rivers. The ROV position and trajectory regulation is made by means of a control algorithm which has all its states feedbacking. The numerical results of the performance predictions are performed considering all the dynamic linear characteristics of the system.