Page 105 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

Vehicle Control and Simulation 4 CHAPTER CONTENTS
4.1 Vehicle control ............................................................................................................................... 94
4.1.1 Basic thruster control ................................................................................................. 95 4.1.2 Autostabilization........................................................................................................97 4.1.3 ROV dynamic positioning ............................................................................................ 98 4.1.4 Logic-drivencontrol....................................................................................................99 4.1.5 Logic drive with goal orientation .................................................................................. 99
4.2 Simulation....................................................................................................................................100
4.2.1 Enter the ROV simulator............................................................................................ 101 4.2.2 Physicssimulation....................................................................................................103 4.2.3 Thefuture................................................................................................................105
In this chapter, the overall levels of control for operated a remotely operated vehicle (ROV) from remote control (RC) will be examined, all the way through full logic-driven operations with goal orientation. The end of the chapter will address some of the newest schemes for vehicle simulation as well as scenario mimicking for rehearsing field operations before deployment.
The discussion of vehicle control levels will begin with a metaphor on neutralizing a sea mine (which both of the authors loathe) that we will generally term “Mr. Nasty.”
1. Direct control: “I am driving my manned submersible in the harbor looking for sea mines when I spot Mr. Nasty protruding from the bottom within the sea lane. I directly operate the fire control button. RIP Mr. Nasty [and hopefully not yourself!].”
2. Remote control (RC): “I am standing on a hill overlooking the sea lanes while operating the joystick linked to the thrusters of my ROV. I sense and control vehicle movement through line of sight (i.e., from my own point of view) as I spot Mr. Nasty floating near the surface. I direct my ROV [with contact explosive charge mounted to the vehicle’s nose] to collide directly into the mine. RIP Mr. Nasty [and vehicle].”
3. Teleoperation: “I am sitting in my air conditioned control room in some remote location sipping a soda while operating a joystick linked to the thrusters of my ROV. I am viewing the undersea world through a camera on the ROV’s nose (i.e., controlling from the vehicle’s point of view). I see a sea mine and operate the vehicle’s fire control system to shoot a projectile into the mine. RIP Mr. Nasty.”
The ROV Manual.
© 2014 Robert D Christ and Robert L Wernli. Published by Elsevier Ltd. All rights reserved.
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