From market-ready ROVs to low-cost AUVs

Willners, Jonatan Scharff; Carlucho, Ignacio; Katagiri, Sean; Lemoine, Chandler; Roe, Joshua; Stephens, Dylan; Łuczyński, Tomasz; Xu, Shida; Carreno, Yaniel; Pairet, Èric; Barbalata, Corina; Pétillot, Yvan; Wang, Sen

doi:10.23919/oceans44145.2021.9705798

Cited by 12 publications

(1 citation statement)

References 31 publications

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“…More recently, the industry has also evolved towards more affordable products meant for researchers, students, or hobbyists, several of which are proposed under the open-source paradigm (see, for example, OpenROV, OpenROV Trident, BlueROV2) [9]. The advantages of open software and hardware solutions lie in their cost-effectiveness compared to conventional solutions and that they allow increasingly faster development, modifications, and improvements.…”

Section: Introductionmentioning

confidence: 99%

An Open-Source Benchmark Simulator: Control of a BlueROV2 Underwater Robot

Benzon

Sørensen

Uth

et al. 2022

JMSE

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This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed and experimentally validated for benchmark control algorithms for underwater vehicles. The BlueROV2 model is based on Fossen’s equations and includes a kinematic model of the vehicle, the hydrodynamics of vehicle and water interaction, a dynamic model of the thrusters, and, lastly, the gravitational/buoyant forces. The hydrodynamic parameters and thruster model have been validated in a test facility. The benchmark model also includes the ocean current, modeled as constant velocity. The tether connecting the ROV to the top-site facility has been modeled using the lumped mass method and is implemented as a force input to the ROV model. At last, to show the usefulness of the benchmark model, a case study is presented where a BlueROV2 is deployed to inspect an offshore monopile structure. The case study uses a sliding mode controller designed for the BlueROV2. The controller fulfills the design criteria defined for the case study by following the provided trajectory with a low error. It is concluded that the simulator establishes a benchmark for future control schemes for position control and trajectory tracking under the influence of environmental disturbances.

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Section: Introductionmentioning

confidence: 99%