An Open-Source Benchmark Simulator: Control of a BlueROV2 Underwater Robot

This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed experimentally validated benchmark control algorithms underwater vehicles. The is based on Fossen’s equations includes kinematic of vehicle, hydrodynamics water interaction, dynamic thrusters, and, lastly, gravitational/buoyant forces. hydrodynamic parameters thruster have test facility. also ocean current, modeled as constant velocity. tether connecting ROV to top-site facility using lumped mass method force input model. At last, show usefulness model, case study presented where deployed inspect an offshore monopile structure. uses sliding mode controller BlueROV2. fulfills design criteria defined by following provided trajectory with low error. It concluded that simulator establishes future schemes position tracking under influence environmental disturbances.