Design and development remotely operated vehicle for anode ship hull inspection

In this paper, the design and development under-actuated Remotely Operated Vehicle namely D20-ROV will describe. The developed D20-ROV is to perform the inspection an anode ship hull. This ROV has three thrusters to control the maneuvering forward, reverse, left, right, raise and submerged. The vehicle with dimensions of 0.5m × 0.46m × 0.22m and weighing 15kg in the air is design for a speed around 3knots and it is powered by 16VDC on-board battery. The umbilical transmits and receives the data through the 20-meter length by Universal Serial Bus (USB) cable to communicates with the operator at the control room. A real-time streaming camera and command from a surface room are able to do a visual inspection of the vessels.