Investigation of remotely operated underwater vehicle motion and computer simulation

Abstract

The purpose of this thesis is to present a computer program that simulates the motion characteristics of a Remotely Operated Underwater Vehicle (ROV). In developing this program considerable detail has been given to the basic principles and properties that are related to ROV motion. This paper is intended to give a comprehensive development of the ROV characteristics this providing an overall view of the influencing factors involved with the ROB and its environment. -- The development of the computer program is presented by first investigating the mathematics of solid body motion and hydrodynamic influences, and then combining these concepts to mathematically express the motion of a general ROV. These mathematical expressions are then adapted for the specific ROV unite “HydroProducts RCV-225’ and used as the basis of a computer simulation of the vehicle motion. -- The computer program is presented as a fortran program capable of running on an IBM personal computer of compatible equipment. The final portion of the thesis illustrates several case studies of potential maneuvering procedures for the ROV.