Object-oriented time-domain simulation framework for Remotely Operated Vehicles

Abstract—This work addresses the development of an objectoriented time-domain simulation framework for Remotely Operated Vehicles (ROVs). Kinematics, dynamics, and control for ROVs are first presented using Newtonian mechanics’ equations which account for rigid-body motion, hydrodynamics, actuator, control, and cable effects; thrust allocation and control algorithms are presented as important components of the feedback control schema. Then, time domain-simulation is conceptualized under the idea of object-oriented programming and the proposed framework is presented as a useful tool to organize and configure different simulation scenarios in which the future behavior of the vehicle’s state is predicted from known initial conditions. We later describe the simulation model of VISOR3, an experimental, observation-class ROV developed in Colombia during the late 2000’s. Results are shown for an open-loop with thrust allocation scenario, and show that the tailor-made simulation framework is useful for gaining insight into the ROV’s maneuvering attributes. This constitutes a contribution for design and operation phases of underwater technologies such as ROV systems.