The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeba...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Published: |
Izhevsk Institute of Computer Science
2018
|
| Online Access: | http://hdl.handle.net/1721.1/118917 https://orcid.org/0000-0003-3155-6223 |
| Summary: | A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeball ROV can move in any direction with non-holonomic constraints. In this paper the design concept is presented first, followed by dynamic and hydrodynamic analysis. Due to poor open loop stability characteristics, stability a ugmentation is implemented using onboard sensors and was de signed and tested in simulation. A physical proof-of-concept prototype is also presented. |
|---|