Smart ROVLATIS: control architecture

摘要

This paper describes the control architecture of smart ROVLATIS. Smart ROVLATIS is a novel, multi-mode of operation marine robotics vehicle, developed at Mobile & Marine Robotics Research Centre (MMRRC), 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. Special features of the system include: deployment interoperability for small inshore boats and larger research vessel; built-in auto-tuning of low-level controllers; fault tolerant thruster control in 6 DOF; onboard computer control enabling real-time disturbance reaction and topside augmented reality system support. The vehicle can be used as a target platform in various scenarios (research and scientific projects, inspections, seabed survey missions, vision experiments etc.).