| Summary: | 碩士 === 國立中山大學 === 海下技術研究所 === 90 === A ROV pilot needs to wholly control the behavior of the ROV while it is in execution of object
recovery and detection in water. However, most of the commercial ROV operating systems only provide
information of video images, depth and orientation. It is difficult for the operator to integrate all information into a vivid picture while steering the vehicle. Besides, limited by the available and expensive operating support, most operators take a lot of practice and field experiences to develop their skill. Therefore, it is necessary to develop a simulator that equips with capabilities of displaying ROV status for real world operation and generating all different
operation scenarios for pilot training. This study has developed a multi-function ROV operating
virtual environment which integrates all sensory data in real-time to yield a 3D navigation map
for operators. Sensory data include GPS, orientation and depth of the ROV, and the acoustic
tracking system. In addition to the real physical components connected to the system, a virtual
environment for pilot training has constructed. This training environment allows modifying dynamic
parameters of the ROV and changing conditions of the ocean environment.
Keyboard, joystick and mouse are used as input devices for the system. The developed mathematical
model of ROV kinematics and dynamics can generate ROV''s corresponding motion according to the
commands of the trained-pilot.
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