PolROV (Polman Education Platform of Underwater Robot) Monitoring Navigation Design Using PID Controller Method

Underwater robots known as Remotely Operated Vehicles (ROV) have become a key element in ocean exploration and various sectors, such as marine science, underwater surveying and defense technology. In domestic research and development efforts for underwater robots, a number of research efforts have been carried out, including the development of ROVs equipped with sensors to measure specific variables such as using the MS5803-14 pressure sensor to determine water depth. Currently, ROV movement control often uses Fuzzy Logic controllers and proportional-integral-derivative (PID) methods, but ROV movement is still limited and difficult to control so that it remains stable in one place. This research aims to improve ROV navigation accuracy and ensure instructions are fulfilled. To achieve this goal, researchers designed a Raspberry Pi-based ROV that is integrated with the LabVIEW interface with the MQTT protocol as data communication between raspberry pi and LabVIEW. ROV depth control uses a dynamic diving system with a Brushless DC motor and PID control. The LabVIEW interface is used to change parameters and monitor the system during underwater ROV operation, achieving 97.06% depth measurement accuracy and 87.7% pressure sensor accuracy for navigating vertical position, resulting in an overall accuracy of 92.38%. PID simulations showed that the optimal tuning of $\text{K p}=1.5$, $\text{K i}=0.8$, and $\text{K d}=0.4$.