| dc.description.abstract | Maneuvering remotely operated vehicles (ROV) can be challenging, especially when
the mission requires the use of a manipulator arm. Today such operations are usually
conducted by two operators: a pilot in charge of keeping the position of the ROV
and one operating the manipulator arm. This thesis proposes a telepresence headmounted
system that allows the user to both have a rst-person perspective of the
operation and to control the vehicle position at the same time, leaving both hands
free.
To accomplish the aforementioned goal, a head mounted display (HMD) called
Oculus Rift is utilized. This device is equipped with sensors that track the users
head movement, and a display that can provide 3D images to the user as well as
sensor feedback, providing a small degree of augmented reality.
A gesture based guidance and control system is designed: Gesture based guidance
transforms measured head movement to a speed reference, the control system then
ensures that the vehicle follows the reference. Mathematical models that allow to
design control systems for the vehicles are also elaborated.
The software solution for Oculus Rift and its interface with the vehicle control
systems, along with technical specications and solutions for the equipment involved
is presented in the thesis.
Simulations, hardware in the loop, model scale and full scale test are conducted
to collect data, verify the system and establish conclusions about this technology.
Model scale tests are conducted at the Marine Cybernetics laboratory at the Department
of Marine Technology, with the model ship Cybership Enterprise 1, while
full scale tests are performed with the NTNU ROV SUB-ghter 30k from deployed
from R/V Gunnerus.
Model and full scale tests shows that a head mounted display telepresence system
can be successfully used to control and maneuver a ROV. The system is suggested
as an alternative way of conducting combined ROV - manipulator operations. For
this purpose, further development and testing is needed. | |
