TY - GEN
T1 - Smart ROVLATIS
T2 - From design concepts to test trials
AU - Omerdic, Edin
AU - Toal, Daniel
PY - 2009
Y1 - 2009
N2 - 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.).
AB - 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.).
KW - Control allocation
KW - Fault-tolerant control
KW - INS
KW - Multibeam
KW - Sidescan
KW - Smart ROV
UR - http://www.scopus.com/inward/record.url?scp=80051527727&partnerID=8YFLogxK
U2 - 10.3182/20090916-3-BR-3001.0077
DO - 10.3182/20090916-3-BR-3001.0077
M3 - Conference contribution
AN - SCOPUS:80051527727
SN - 9783902661517
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 346
EP - 357
BT - Proceedings of the 8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009
PB - IFAC Secretariat
ER -