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<p>A 2DOF vectored thruster mechanism was designed to provide an ROV with full spatial mobility under minimum control forces. Some comparisons were developed based on topologies with three, four, and five thrusters to evaluate mobility performance of a ROV. The forces and moments required for the vehicle to perform different trajectories were analyzed to define the corresponding thruster action and the trajectory requirements. A genetic algorithm was used to determine a vectored thruster mechanism to achieve the minimum thruster force.</p>

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Analysis of ROV mobility under optimal thruster mechanism configuration

  • 期刊论文

  • 发表日期：

    2025年1月6日

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  • Katherine Ramírez Hernández,
  • Paulina Gutiérrez León,
  • J. A. Vázquez Santacruz,
  • R. de J. Portillo Vélez

摘要

A 2DOF vectored thruster mechanism was designed to provide an ROV with full spatial mobility under minimum control forces. Some comparisons were developed based on topologies with three, four, and five thrusters to evaluate mobility performance of a ROV. The forces and moments required for the vehicle to perform different trajectories were analyzed to define the corresponding thruster action and the trajectory requirements. A genetic algorithm was used to determine a vectored thruster mechanism to achieve the minimum thruster force.