Abstract
This article focuses on passive self-management of the umbilical of a Remotely Operated Vehicle (ROV) for underwater exploration. The goal is to give a predictable shape to the umbilical, using moving ballasts and buoys to stretch the umbilical and so to avoid entanglement of the cable itself or with surrounding obstacles. The ballasts and buoys move by themselves to maintain the cable taut without a motorized system. A model of the umbilical is proposed. The presence of waves, as well as thecases with and without currents are considered. Three configurations of the umbilical are proposed, each one to be the most adapted to ROV exploration missions: near the surface, sea exploration, and diving in presence of large obstacles.
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