5th WCSET-2016 at Vietnam 

 

Technical Session - 7

Title:          Research on design and heading control of Remotely Operated Vehicle (ROV)
Authors:      Duy Anh Nguyen, Hoang Ton Nguyen, Phung Hung Nguyen
Abstract:    ROVs (Remotely Operated Vehicle) play an important role in underwater activities. One of the most important problems in controlling ROV is the movement of ROV in the horizontal plane because of high complexity and 6-degree-of-freedom motion. In this paper, we focus on designing and prototyping a mini-ROV platform, which had four thrusters for horizontal movement and two thrusters for vertical movement. Then, the control algorithms will be built in order to control the motions of the platform on a horizontal plane with the following criteria: The desired speed must be ranging from 0.2 to 0.5 m/s and the maximum tolerance of ROVs direction, which is checked using a compass and a 6-axis gyroscope, must be lower than 2 degrees. Finally, the results of some experiments are shown to analyse the effectiveness of the algorithms.

Keywords:    Diving robot, PID controller, Remotely Operated Vehicle (ROV), Heading control
Pages:         369-373

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