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Development and control of a low-cost, three-thruster, remotely operated underwater vehicle


Le, KD and Nguyen, HD and Ranmuthugala, D, Development and control of a low-cost, three-thruster, remotely operated underwater vehicle, International Journal of Automation Technology, 9, (1) pp. 67-75. ISSN 1881-7629 (2015) [Refereed Article]

Copyright Statement

Copyright 2015 Fuji Technology Press Ltd.

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DOI: doi:10.20965/ijat.2015.p0067


This paper presents the development of a low cost Remotely Operated Vehicle (ROV) which consists of open source hardware and has three thrusters. First, the hardware of the vehicle, including the actuators, sensors, and control structure, is described. Second, to study the relationship between the thrust forces and the performance of the ROV, a mathematical model of the vehicle in the form of a kinematic and kinetic model is established. Next, a hybrid control algorithm consisting of two components, namely model-based and PID algorithms, is proposed for surge speed, depth, and heading control. The effectiveness of the hybrid control algorithm is then verified by the ROV mathematical model-based simulations. Finally, free running tests for depth control are conducted to verify the robustness and reliability of the control structure and proposed algorithms.

Item Details

Item Type:Refereed Article
Keywords:remotely operated vehicle (ROV), hybrid controller, model-based control, PID control, open source hardware
Research Division:Information and Computing Sciences
Research Group:Artificial intelligence
Research Field:Intelligent robotics
Objective Division:Defence
Objective Group:Defence
Objective Field:Intelligence, surveillance and space
UTAS Author:Le, KD (Mr Khoa Le)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
UTAS Author:Ranmuthugala, D (Professor Dev Ranmuthugala)
ID Code:97841
Year Published:2015
Deposited By:Seafaring
Deposited On:2015-01-15
Last Modified:2017-11-06

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