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http://dx.doi.org/10.5574/KSOE.2016.30.5.374

Modeling and Tracking Simulation of ROV for Bottom Inspection of a Ship using Component Drag Model  

Jeon, MyungJun (Department of Eco-friendly Offshore FEED Engineering, Changwon National University)
Lee, DongHyun (Department of Eco-friendly Offshore FEED Engineering, Changwon National University)
Yoon, Hyeon Kyu (School of Industrial Engineering & Naval Architecture, Changwon National University)
Koo, Bonguk (School of Industrial Engineering & Naval Architecture, Changwon National University)
Publication Information
Journal of Ocean Engineering and Technology / v.30, no.5, 2016 , pp. 374-380 More about this Journal
Abstract
The large drift and angle of attack motion of an ROV (Remotely operated vehicle) cannot be modeled using the typical hydrodynamic coefficients of conventional straight running AUVs and specific slender bodies. In this paper, the ROV hull is divided into several simple-shaped components to model the hydrodynamic force and moment. The hydrodynamic force and moment acting on each component are modeled as the components of added mass force and drag using the known values for simple shapes such as a cylinder and flat plate. Since an ROV is operated under the water, the only environmental force considered is the current effect. The target ROV dealt with in this paper has six thrusters, and it is assumed that its maneuvering motion is determined using a thrust allocation algorithm. Tracking simulations are carried out on the ship’s surface near the stern, bow, and midship sections based on the modeling of the hydrodynamic force and current effect.
Keywords
ROV; Component drag model; Computational fluid dynamics; Modeling; Tracking; Simulation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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