Published in Proceedings of OCEANS 2006 - Asia Pacific, May 1, 2006, pages 1-7.
Copyright © 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. The definitive version is available at http://dx.doi.org/10.1109/OCEANSAP.2006.4393862.
NOTE: At the time of publication, the author Christopher Clark was not yet affiliated with Cal Poly.
Accurate modeling and simulation of underwater vehicles is essential for autonomous control. In this paper, we present a dynamic model of the VideoRay Pro III microROV, in which the hydrodynamic derivatives are determined both theoretically and experimentally, based on the assumption that the motions in different directions are decoupled. The experiments show that this assumption is reasonable within operating conditions of the VideoRay Pro III. A computer simulation with 3D graphics is also developed to help user to visualize the vehicle's motion.