Publication Detail

Human-interactive simulation and display of an underwater remotely operated vehicle

Thierry Royer
92 pp.

A simulator for an undersea ROV (remotely operated vehicle) can provide an important alternative to the use of a real vehicle for training operators and testing new control methods. The simulator described here comprises four modules working in parallel: a dynamic model of the vehicle, a static model for the shape and tension of the tether, a graphics display, and an environment emulator. The graphics program represents a simplified environment composed of an offshore structure (4 columns and 4 transverse bars), a pipe-line, and a wellhead. The environment emulator detects and signals collisions. The design of this program allows easy change within the modules, and inexpensive implementation on a multi microcomputer system.

type: Technical reports

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