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Modeling of Remotely Operated Vehicle (ROV) Operations for Aquaculture

Abstract

This paper proposes an extensive model for unmanned underwater vehicle operations in aquaculture and includes a dynamic 6 degrees of freedom (DOF) quaternion-based model of a remotely operated vehicle (ROV) and a model of a net cage structure. The proposed vehicle and net cage models are subjected to waves and a dynamic current flow, which itself is affected by the wake effects from the net cage. Furthermore, two ROV platforms with complete sets of dynamic parameters are presented, the Argus Mini ROV and the BlueROV2 underwater vehicle. The suggested models are tested for aquaculture operations in simulations using the Argus Mini ROV as the test case in the vehicle model. The simulations demonstrate a net following procedure where the vehicle is exposed to various degrees of environmental effects from waves and currents.

Category

Academic chapter

Language

English

Author(s)

Affiliation

  • SINTEF Ocean / Aquaculture

Year

2023

Publisher

IEEE (Institute of Electrical and Electronics Engineers)

Book

Proceedings of 2023 IEEE International Conference on Mechatronics and Automation (ICMA)

ISBN

9798350320848

Page(s)

705 - 712

View this publication at Norwegian Research Information Repository