Research On Maneuverability And Intelligent Motion Control Of Underwater Vehicles For Pipeline Detection And Maintenance

With the advent of underwater vehicle technology in the offshore industry, major survey and inspection tasks are now possible at lower cost with faster execution time. Pipe inspection is of major interest in that respect as thousands of meters of pipelines are surveyed each year with underwater vehicles. However, engineering problems associated with the high density, non-uniform, and unstructured seawater environment make it difficult to get an exact motion model of underwater vehicle. In china eastern sea area, there are many pipelines to transmit oil from oil fields to mainland of China. In order to maintain the pipelines, underwater vehicle is designed to detect and maintain them,which is named as"pipeline detection and maintenance underwater vehicle".Maneuverability analysis and motion control are the key technology of the project. In this paper maneuverability and motion control technology for pipeline detection underwater vehicle is researched.