Proposed Mathematical Modeling of Small Remotely Operated Vehicle (ROV) Movement

In designing of Remotely Operated Vehicle (ROV), the most important issue is how to formulate the movements of the vehicle. This paper proposes the mathematical model of ROV movement. Combination of statics disciplines and dynamics of ROV movement are needed to formulate the mathematical model of ROV. Statics refers to the forces and moments that work on the physical system around the equilibrium point, dynamics refers to the effect of force on the movement of the object. Linear mathematical models analyzed can be combined or separated by taking into account the circumstances surrounding environment such as velocity vector of the linear state of the vehicle body (surge, sway and up) and angular (roll, yaw and pitch). Simulation results show that the movement of vehicles, both basic and combined movements have reliable characteristics.