A Motion Model of a Complex-Shaped Remotely Operated Underwater Vehicle

Abstract

The knowledge of velocities of a remotely operated underwater vehicle (ROV) is crucial for the study of the ROV motion. The ROV motion equations are complemented by hydrodynamic parameters and forces acting upon the ROV. The matrices of hydrodynamic damping coefficients and external forces acting upon the ROV are considered in this study as well. The computational results obtained by the Runge-Kutta method are compared with the experiment. It appears that the presented model can be useful for the design and investigation of remotely operated underwater vehicles.