Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation
This paper proposes a kinematic model and an inertial localization system architecture for a riser inspecting robot. The robot scrolls outside the catenary riser, used for underwater petroleum exploration, and is designed to perform several nondestructive tests. It can also be used to reconstruct th...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2012/638394 |
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