Precision control and dynamic positioning of ROVS in intervention operations

A smart Remotely Operated Vehicle, ROV LATIS, is a prototype platform to test and validate OceanRINGS-a suit of smart technologies for subsea operations, developed at Mobile & Marine Robotics Research Centre, University of Limerick. It is a next generation smart ROV with unique features, including multiple modes of operation, advanced 2D and 3D displays, intuitive, versatile and easy to use pilot interface, built-in autotuning of low-level controllers, voice navigation and fault-tolerant control system. With integrated state-of-the-art navigation sensors/instruments, the vehicle can achieve precision navigation and subsea positioning. Other features include ROV high precision dynamic positioning (DP) in absolute earth-fixed frame or relative to ship, robust speed/course controller with independent heading control and im?proved ROV-ship link. System validation and technology demonstration was performed through a series of test trials with different support vessels off the north, south and west coast of Ireland, in Donegal, Bantry Bay, Cork Harbour, Galway Bay, Shannon Estuary and La Spezia, Italy. This paper highlights the main features of the system, presents selected results of test trials and discusses implementation issues and potential benefits of the technology.