Open AccessProposed Mathematical Modeling of Small Remotely Operated Vehicle (ROV) Movement
Author(s) -
Iis Hamsir Ayub Wahab,
Rintania Elliyati Nuryaningsih,
Achmad Pradjudin Sardju
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1569/4/042002
Subject(s) - remotely operated underwater vehicle , movement (music) , statics , mathematical model , remotely operated vehicle , computer science , point (geometry) , work (physics) , vehicle dynamics , trajectory , surge , simulation , control theory (sociology) , control engineering , marine engineering , engineering , artificial intelligence , aerospace engineering , mobile robot , mechanical engineering , mathematics , physics , robot , acoustics , statistics , geometry , electrical engineering , control (management) , classical mechanics , astronomy
In designing of Remotely Operated Vehicle (ROV), the most important issue is how to formulate the movements of the vehicle. This paper proposes the mathematical model of ROV movement. Combination of statics disciplines and dynamics of ROV movement are needed to formulate the mathematical model of ROV. Statics refers to the forces and moments that work on the physical system around the equilibrium point, dynamics refers to the effect of force on the movement of the object. Linear mathematical models analyzed can be combined or separated by taking into account the circumstances surrounding environment such as velocity vector of the linear state of the vehicle body (surge, sway and up) and angular (roll, yaw and pitch). Simulation results show that the movement of vehicles, both basic and combined movements have reliable characteristics.