A ROS Approach on Multi-mode Control Systems for Remote Operating Vehicle
Hao Gen Chia, Nicholas Sadjoli, Dinh Quang Huy, Yiyu Cai, Gearld Seet, Basman Elhadidi · OCEANS 2021: San Diego – Porto · 2021
The paper presents a multi-mode control system implemented to a ROV. The multi-mode system enables pilots to train on a virtual simulator or to deployed for a physical mission. This provides a cost effective and risk-reducing option arising from using two different or dissimilar systems. In particular, the paper highlights the design methodology and architecture of the system to be built on ROS. The structure of ROS enable data to be transferred easily between models through nodes and topics. This allows flexibility in adding, or removing, features. Furthermore, ROS is compatible on serval platforms which extends applicability and permits codes to be reused on different platforms. By implementing on ROS, it saves on resources and programming effort, compared to developing on a specified package. Design and coding time were found to be faster than implementing a solution solely based on a custom algorithm with native codes