Paper:

# Development and Control of a Low-Cost, Three-Thruster, Remotely Operated Underwater Vehicle

## Khoa Duy Le, Hung Duc Nguyen, and Dev Ranmuthugala

University of Tasmania / Australian Maritime College, Maritime Way, Newnham, Tasmania 7248, Australia

This paper presents the development of a low cost Remotely Operated Vehicle (ROV) which consists of open source hardware and has three thrusters. First, the hardware of the vehicle, including the actuators, sensors, and control structure, is described. Second, to study the relationship between the thrust forces and the performance of the ROV, a mathematical model of the vehicle in the form of a kinematic and kinetic model is established. Next, a hybrid control algorithm consisting of two components, namely model-based and PID algorithms, is proposed for surge speed, depth, and heading control. The effectiveness of the hybrid control algorithm is then verified by the ROV mathematical model-based simulations. Finally, free running tests for depth control are conducted to verify the robustness and reliability of the control structure and proposed algorithms.

*Int. J. Automation Technol.*, Vol.9, No.1, pp. 67-75, 2015.

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