用于导管架检测的ROV路径规划研究.pdfVIP

for Planof VehicleJacket RoutingRemotelyOperated Inspection Shi and Pifang(SafetyTechnologyEngineering) DirectedProfessorZhao by Yongrui Abstract Recent todomoreandmore years，remotelyoperatedvehicle(ROV)begin inspecting worksofallkindsofoffshorestructuresinsteadof itisless and divers，because expensive on underwater fromtheworksthatCanbedone safer．However,different land,ROV’S stillakindof takesa ofHuizhouoilfieldfor is high—costproject．Thispaper jacket inspection theconstrained ofROVfor state example，studied routingplan jacket’S inspection．The isto andreduce purposeimproveinspectingefficiency inspectingexpensebyroutingplan, the to whichcould ROV’Smovementdecreaseredundantor routesandsave guide duplicate hours． working taskswas andclassified tothestructureand First,theinspection decomposed according thevulnerableofthe andthekineticscharacteristicsoftheROV’Smovement．The parts jacket were wereselectedand acorrectmathematical test-programsdesigned，thetest-points finally andall modelWasestablishedbasedonthe ofrelative kindsof study theory algorithm．Then,