DESIGN, NAVIGATION AND CONTROL OF UNDERWATER DRONE

Abstract

This report presents the development and modeling of low cost underwater Remotely Operated Vehicle (ROV). The ROV is developed in-house with cost cutting and daily use materials. On development and successful trials of the ROV, dynamic analysis of the structure is carried out. In this project the dynamical analysis brings out the equation of motion depicting the dynamic behavior the effect of hydrodynamic loads for an underwater vehicle. Added mass coefficients w.r.t the ROV are calculated with the help of equations and experiments. The coefficients of hydrodynamic (linear and quadratic coefficients of damping) are calculated using a free decay pendulum experiment. The variation of ROV velocity and acceleration with time is obtained for heave and surge directions by varying the thrusting load. The manually controlled ROV is then to be converted to autonomous underwater vehicle with the help of microcontroller and some sensors. Accelerometer and pressure sensor will be used as data sources which supply necessary information to the microcontroller on the Arduino Nano board. A PID controller post tuning by Ziegler Nichols should be implemented through the Arduino IDE which will control the error between the desired set-point and process variable.