Execution control of ROV navigation, guidance and control tasks

This paper focuses on the design and implementation of an execution controller of the navigation, guidance and control (NGC) tasks of remotely operated vehicles (ROV). A set of rules, guaranteeing the consistency and correctness of the control system, is defined on the basis of the topology, i.e. input–output relationships, of the execution level, and translated into constraints on a Petri net representing the NGC tasks as a discrete event system. A suitable Petri net search algorithm is defined for system reconfiguration. The proposed execution controller has been integrated in the Romeo ROV control system.