This paper describes the unmanned underwater remotely operated vehicle (ROV) designed as a cost-effective platform for underwater inspection. The subsystems composing our system are discussed. Control system architecture has also been presented. The experiment results have shown that the ROV can execute basic movements such as surge, sway, heave, and yaw.

A Remotely Operated Vehicle for Underwater Inspection

There is an increasing demand for autonomous underwater vehicles (AUVs) in applications such as sea bottom and pipeline survey, cable maintenance, off-shore structures' monitoring and maintenance, collect/release of biological surveys. To successfully complete these missions, AUVs must be equipped with systems to steer them accurately and reliably in harsh marine environment. However, the sensing devices are not fully reliable in the underwater environment and the vehicle actuating system, usually composed of thrusters, is highly nonlinear. This paper proposes a fuzzy controller which effectively deals with the above uncertainty and nonlinearity to steer an AUV to a goal point. Simulation results illustrate the performance of the controller proposed.

Thanh Hoan Ngo

Papers

A Remotely Operated Vehicle for Underwater Inspection

Goal Seeking Control of an AUV using Fuzzy Controller