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| Development of Ground Control Station for Low Level ROVs |
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Author Name VIKASH R, VIJAY KUMAR K S, DHANUSH RAJ A K Abstract This paper describes the design and control communication for a Remotely Operated Underwater Vehicle (ROV), emphasizing a novel communication system between the ROV and a Ground Control Station (GCS). ROVs are extensively used in oceanic research for various applications, including measuring currents and temperatures, mapping ocean floors, and detecting hydrothermal vents. They are equipped with tools like digital cameras, bathymetry instruments, magnetic sensors, and ultrasonic imaging for these purposes.In this study, the ROV is designed with a torpedo shape and incorporates a flexible steering system, consisting of horizontal blade rudders and vertical steering thrusters. The control and communication setup is established in two main phases:
ROV-to-Float Communication: An electrical cable connects the ROV to a float, which acts as a wireless access point. A companion computer running on a Linux OS facilitates the transmission of RS-232 protocol data between the ROV’s control system and the float.
Float-to-GCS Communication: Wireless technology links the float to a GCS, stationed either on a mothership or on land. The GCS uses a static IP address configured within the same gateway as the companion computer to ensure seamless communication.
This communication setup leverages Ethernet and teather, a lightweight messaging protocol, to enable efficient data exchange between the GCS and the ROV through the float. The two-stage communication design ensures reliable remote control and data acquisition from the ROV, contributing to enhanced operational effectiveness in underwater exploration.
Key Words: Communication, Control, ROV, GCS, Mothership,Ethernet.
Published On : 2024-11-26 Article Download : 
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