Design and Application of a Small ROV Control System Based on ArduSub System

A small ROV was designed and developed for its wide application and low cost, ArduSub system was used to construct ROV control system to realize ROV motion and attitude control. Equipped with componets such as cameras, underwater lights, sonar and manipulator, ROV has the characteristics of flexible movement, strong anti-current ability, and underwater observation and operation capabilities. Structure and control system composition of ROV and the attitude control algorithm used is introduced in the paper. Through the pool test, the results showed that the use of ArduSub system to build ROV control system makes the ROV has better motion performance and attitude maintain ability, shorten the ROV development cycle and reduce cost.