Smart ROVLATIS: From design concepts to test trials

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Abstract

This paper describes the development process of Smart ROVLATIS, from initial design concepts to test trials. Smart ROVLATIS is a novel, multi-mode of operation marine robotics vehicle for operational flexibility in high-resolution near seabed survey from shallow inshore waters out to the continental shelf edge. The vehicle can operate in surface-tow mode, surface-thrusted mode and ROV operation mode. The main features include a state-of-the-art navigation suite, patent-pending synchronisation of sonar (multibeam, sidescan, DVL) and advanced control system with superior performance (including built-in autotuning of low-level controllers, accurate dynamic positioning in presence of waves and ocean currents, thruster fault-tolerant control in 6 DOF and accurate automatic way-point navigation). The vehicle can be used as a target platform in various scenarios (research and scientific projects, inspections, seabed survey missions, vision experiments etc.).

Original languageEnglish
Title of host publicationProceedings of the 8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009
PublisherIFAC Secretariat
Pages346-357
Number of pages12
Edition18
ISBN (Print)9783902661517
DOIs
Publication statusPublished - 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number18
Volume42
ISSN (Print)1474-6670

Keywords

  • Control allocation
  • Fault-tolerant control
  • INS
  • Multibeam
  • Sidescan
  • Smart ROV

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