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