Dynamic positioning system for a small size ROV with experimental results

This paper presents a dynamic positioning system (DP) for a remotely operated vehicle (ROV). It has been developed and tested on a small size ROV called Minerva. The ROV control system hardware, software and architecture are presented together with a detailed description of the observers/state estimators. The DP system was developed by researchers at the Applied Underwater and Robotics Laboratory (AUR-Lab) at NTNU. Experimental results from testing and verification of station keeping and trajectory tracking are shown in this paper.