Modeling and Simulation of the VideoRay Pro III Underwater Vehicle

Wei Wang, University of Waterloo
Christopher M. Clark, University of Waterloo

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NOTE: At the time of publication, the author Christopher Clark was not yet affiliated with Cal Poly.

Abstract

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.