Evolution of the DOLPHIN Multi-Vehicle Control System

This paper describes the evolution of the DOLPHIN multi-vehicle computer control system. The unmanned, untethered DOLPHIN semi-submersible was designed as a stable platform for hydrographic research. A proof-of-concept DOLPHIN system was developed in 1983 for the Canadian Hydrographic Service (CHS), consisting of one vehicle controlled by a single operator console over a real time radio link. In 1985, the DOLPHIN system was expanded to control three vehicles by time multiplexing the radio link. The console was expanded to allow simultaneous control of all three vehicles. Presently, the DOLPHIN system is being expanded to eight vehicles, with a network of three consoles. Control of a vehicle can be passed from one console to another, allowing flexible mission configurations. In addition, the DOLPHIN vehicles will have increased autonomy, such as automated launch/recovery, positioning and course following, and more fault tolerant software. When complete, the system will provide a cost-effective means of conducting multidisciplinary surveys offshore.