MIMO Model Development of the Navigational System of an Underwater ROV

This paper presents the design and development of a complete MIMO (Multiple Input Multiple Output) model for the autonomous part of the Navigational System of an underwater Remotely Operated Vehicle (ROV). Underwater ROVs are robotic systems that are submersible. They are used to observe the depths of large water bodies by operators from shore. In this paper the objective is to develop a model of the navigational system of the ROV using MATLAB/Simulink. The navigational system is used for autonomous navigation of an underwater ROV. The model is useful to test and modify the various control parameters without having to perform physical tests on the ROV.