Underwater ROV with Fuzzy Logic Motion Control

Abstract

This paper describes the design and development of an Underwater Remotely Operated Vehicle (ROV) with Fuzzy Logic motion control for a shallow water environment i.e. up to 10m depth. The ROV was developed in two phases. In the first phase, the ROV was designed and developed with the associated electronics for motion and power control. The control electronics are mounted inside the ROV main body and communicated with via a tethered cable running from the surface which also carries the required power. The ROV also has a camera for obtaining video and a set of LED lights for illumination. The main controlling unit of the electronics is a Raspberry pi microcomputer which also operates the video. Test trials of the ROV underwater were conducted in a laboratory water tank to a depth of about 1.5 m. Very satisfactory operation was achieved. Some drawbacks and possible improvements were identified during these tests and these were addressed in the second phase with the introduction of Fuzzy Logic for motion control.