Modelling and control of underwater inspection vehicle for aquaculture sites

Abstract

Underwater vehicles such as AUVs and ROVs with hovering capabilities is a promising method for inspection of net integrity in large scale, sea based, salmon farms. The location of the salmon farms cause underwater vehicles to be affected by strong tidal currents and waves. In this thesis a six degree of freedom unified process plant model combining seakeeping theory and maneuvering theory for a small work ROV called Argus Mariner is developed. Using the software WAMIT, the hydrodynamic potential coefficients and wave induced forces and moments are found. A basic control system for traversing a dynamic netcage model is developed. The models and control system are implemented in a simulation environment called FhSim developed by SINTEF Fishery and Aquaculture AS.