Résumé
When using a Remotely Operated Vehicle (ROV), on-the-fly reconfiguration of the thrusters orientations allows to adjust its propulsion and maneuverability capabilities according to the mission progress. To optimize the actuation, the interaction between thrusters due to cross flows is modeled and included in the thrust related objective function to be maximized. Run-time effective solutions use a sparse look-up table to initialize a fast direct-search local optimization algorithm. The found thrusters steering configurations show higher thrust gains compared with the traditional fixed 'vectored' configuration of currently available ROVs.