Offshore inspection mission modelling for an ASV/ROV system

To reduce the human exposure risk during offshore structure inspection, Remotely Operated underwater Vehicle (ROV) is a widely used solution. This paper couples an inspection class ROV with autonomous surface vehicle (ASV) via launch and recovery system (LARS) in nonlinear numerical model. Operational missions both static moving targets are modelled for this ASV/ROV system. The reports following distinctive mission profiles: i) pipeline ii) floating wind turbine (FOWT) mooring line iii) circumferential weld scan at FOWT spar. results provide important parameters to design implement missions. During scan/check stage, distance between target will be varying, due relative motion ASV ROV. Important model that allow umbilical tension given profile. Results also determined net buoyancy of lead position offset. In cases, it found drag force caused by tidal current can contribute rotation should considered detail ahead any mission.