Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Abstract The article considers the problem of autonomous control underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with stationary obstacle. avoidance process is presented as synthesis fuzzy proportional-differential controllers for distance and orientation concerning detected submergence depth has been adopted separate flow. A method to obtain main motion parameters relative obstacle using Laser-based Vision System (LVS) pressure sensor coupled an Inertial Measurement Unit (IMU) described discussed. result computer implementation designed demonstrated simulation tests experiments carried out ROV test pool.