Title :
A basis for closed loop ROV control
Author :
Greelish, Steven
Author_Institution :
SonicWorks, MA, USA
Abstract :
Summary form only. The SonicWorks Acoustic Positioning System was designed with the attributes required for the next generation of ROV control. The APS system is the basis for a precision position and attitude control of an ROV. The high rate precision positioning and tracking required for control is accomplished with frequency hopping and enhanced computational techniques. A packets in flight concept eliminates the speed of sound limits of previous systems and yields position reports as high a 50-Hertz. The ROV module is provided with 4 pingers to provide a reference for attitude control and a level of redundancy needed in real world operations. It is now practical to raise the mass center of an ROV and increase the degrees of freedom in the closed loop control system
Keywords :
attitude control; closed loop systems; position control; remotely operated vehicles; 50 Hz; APS system; SonicWorks Acoustic Positioning System; attitude control; closed loop ROV control; closed loop control system; degrees of freedom; frequency hopping; packets in flight; pingers; position control; precision positioning; Control systems; Frequency; Remotely operated vehicles; Weight control;
Conference_Titel :
OCEANS '99 MTS/IEEE. Riding the Crest into the 21st Century
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-5628-4
DOI :
10.1109/OCEANS.1999.804761
