Motion Planning for Cable Management in ASV and ROV Cooperation System

Abstract

In order to prevent the tether cable from adversely affecting the ROV’s motion performance and cable entanglement during ROV operation, the cable must be properly routed according to the direction and depth of the ROV in the water. In this study, we propose a motion plan for the position of the ASV and the cable length with the motion of the ROV in the ASV-ROV cooperative system.