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Navigation Control of Remotely Operated Underwater Vehicle

Krunal M. Bhatt, Nisarg N. Panchal, Ishika L. Saijwal, Akshar Chauhan, Sanskruti Gondaliya, Akash Mecwan Mecwan, Mihir Chauhan

Abstract


The purpose of this study is to provide a brief overview of the software architecture and navigation control of the Remotely Operated Underwater Vehicle (ROV) developed by undergraduate students of Nirma University. It is equipped with various sensors like an Inertial Measurement Unit (IMU), pressure sensor, temperature sensor, and two cameras. Eight thrusters were used to maneuver the ROV and they were mounted in such a way that it makes the ROV capable of moving in all 6 degrees of freedom with maximum stability. The ROV has two Arduino Mega microcontrollers and Nvidia-Jetson TX2 as the main processing unit It can be controlled remotely over a LAN network from up to 60 meters away from a remote PC. Furthermore, a detailed description of the system is being discussed here

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References


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