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.
@article{arxiv.2503.00482,
title = {A Navigation System for ROV's inspection on Fish Net Cage},
author = {Zhikang Ge and Fang Yang and Wenwu Lu and Peng Wei and Yibin Ying and Chen Peng},
journal= {arXiv preprint arXiv:2503.00482},
year = {2025}
}