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arXiv · 2503.00482

A Navigation System for ROV's inspection on Fish Net Cage

Zhikang Ge·Fang Yang·Wenwu Lu·Peng Wei·Yibin Ying·Chen Peng
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Abstract

Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications.

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Zhikang Ge, Fang Yang, Wenwu Lu, Peng Wei, Yibin Ying, Chen Peng. 2025-03-01. A Navigation System for ROV's inspection on Fish Net Cage. https://arxiv.org/abs/2503.00482

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