Design and Development of SelamDrone Underwater ROV Manoeuvring Control

Abstract

The present study explores the underwater remotely operated vehicle (ROV) control named SelamDrone. The manoeuvring which include forward-reverse and rise-sink control is designed and developed. Beforehand, various factors in designing and fabricating first prototype of underwater ROV namely functionality, stability and motor efficiency need to be considered. The description of the SelamDrone ROV and its equipment, manoeuvring equipment control setup and controller algorithm design are presented. The developed algorithm controller for forward-reverse and rise-sink is presented and discussed. Manoeuvring investigation which include trial run and full test run show that the SelamDrone able to function and can be controlled by using joystick of radio controller. In order to overcome the lagging in rising, an introduction of ballast coupled with smaller wire for its umbilical is suggested for future work.