Abstract:
Surveying underwater portion of ship hull is time consuming and costly as it is difficult to
access and also poses a significant risk to human divers. To mitigate the problem, we have
designed and constructed an economical underwater ROV. The ROV is made of lightweight
materials to minimize weight and increase buoyancy. It is powered by a lithium-ion battery
pack and is controlled by a tethered connection to a surface control unit. A raspberry pi-based
control system is used to process, transmit and receive all information in the ROV. Overall eight
thrusters are used to control the propulsion system. The ROV is capable to accomplish various
rotational and flat movements in the water and it is equipped with a high-definition camera, a
lighting system, and various sensors. The robot has the ability to navigate around the hull of the
ship and capture high-quality images and data in real-time. The main application of the ROV is
not only to inspect the underwater portion of ship hull but also shallow waterways. The ROV
was tested in a controlled environment and performed well, providing clear and accurate images
of the underwater environment. The ROV is expected to be a valuable tool for surveying ship
hulls and shallow waterways, providing a cost-effective and efficient solution for underwater
inspections.
