Study on simulation of remotely operated underwater vehicle spatial motion

Abstract

In order to analyze the spatial maneuverability of the remotely operated underwater vehicle (ROV), the 6-DOF motion mathematic model of the ROV was founded. Hydrodynamics were analyzed by using the Taylor series. The thrusters on the ROV were discussed. This paper considers three cases of motion simulation: vertical motion, rotational motion and Z-shape motion. A series of simulation experiments showed that the 6-DOF motion mathematic model was correct and reliable, and also fit with the scene simulation.

Keywords

remotely operated underwater vehicle / motion mathematic model / spatial motion simulation / hydrodynamics / Taylor series / spatial maneuverability