Thruster Allocation for Underactuated ROVs: Simulation and Real-World Implementation

Abstract

Underwater exploration gained prominence starting in the 1950s with the emergence of the first ROVs (Remotely Operated Vehicles). Among their categories, observation ROVs stand out for their ability to collect data in hard-to-reach environments. In this context, the OpenROV — an open-source mini ROV with a modular architecture — was studied. One of the units had mechanical damage and serial communication failures with the original electronics, requiring a retrofit process. Additionally, a thruster allocation study was conducted to evaluate the platform’s movement in both simulation and real operation. Through this technique, it was possible to verify that the current configuration allows movements along the surge, heave, and yaw axes, with correspondence between simulation and actual actuation. The study contributed to the analysis of the system’s degrees of freedom and its potential navigability in an aquatic environment.