Full Content is available to subscribers

Subscribe/Learn More  >

Modeling of a Small Remotely Operated Underwater Vehicle for Autonomous Navigation and Control

[+] Author Affiliations
Wilmer Rustrian, Praveen Shankar

California State University, Long Beach, Long Beach, CA

Paper No. IMECE2016-65520, pp. V04AT05A008; 11 pages
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5054-1
  • Copyright © 2016 by ASME


Autonomous control of a remotely operated underwater vehicle requires a high fidelity simulation model to be developed. In this paper, we present a simulation model of a commercially available Mini Observant Class ROV that is developed based on first principles and validated by empirical data. Open-loop testing conducted on the underwater vehicle is utilized to validate the pitch attitude behavior and fine-tune the physical parameters in the simulation model. In addition, three autopilot systems is designed using classical control theory to enable autonomous control over the attitudes and depth of the underwater vehicle.

Copyright © 2016 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In