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

journal contribution
posted on 2023-05-18, 06:36 authored by Le, KD, Hung NguyenHung Nguyen, Susantha RanmuthugalaSusantha Ranmuthugala
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.

History

Publication title

International Journal of Automation Technology

Volume

9

Pagination

67-75

ISSN

1881-7629

Department/School

Australian Maritime College

Publisher

Fuji Technology Press

Place of publication

Tokyo, Japan

Rights statement

Copyright 2015 Fuji Technology Press Ltd.

Repository Status

  • Restricted

Socio-economic Objectives

Intelligence, surveillance and space

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