Development Of ROV For Orientation Control

Ch'ng, Swee Guan (2018) Development Of ROV For Orientation Control. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

In the field of underwater unmanned vehicle, Remotely Operated Vehicle (ROV) and Autonomous Underwater Vehicle (AUV) are mobile robots that replace human to do dangerous task such as carrying out operation under the deep ocean with the operator on the surface of the ocean. One of the problems faced by ROV is that the new operator cannot run the ROV perfectly because there is absence of direct orientation control of ROV. So, a steering system that uses the sense of motion to control a ROV is discussed in this project. In designing the ROV, SolidWorks software is used and undergoes various simulation tests such as stress and strain test, sustainability test and stability by referring the center of mass. This project was used MPU6050 sensor as a steering system to control the angle of rotation of ROV in yaw, pitch and roll. In this research, the performance of the ROV with steering system was evaluated in terms of manoeuvrability and ease of handling. The experiments are carried out in the lab pool to test the orientation control of the ROV through the communication between the ROV and the steering system using Arduino MEGA 2560. The result obtained from SolidWorks simulation tests was that the design of ROV has good stability in water due to its center of gravity. The drifting angle on pitch and roll was filtered by using Kalman Filter coding. The ROV was able to move in pitch and roll direction but not yaw because the angle of the rotation on yaw was drifted too much. The only solution for the drift angle on z axis is by replacing the MPU 6050 with MPU 9150.

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