Design and Control of an Underwater Remotely Operated Vehicle using Thrust Force Vectors

The Earth’s oceans remain largely unexplored due to challenges in deep-water exploration, including high pressure and low light. Remotely operated vehicles are vital tools for addressing these challenges across marine science, military, and industrial sectors. This paper presents a cost-effective, modular ROV designed for stability & mobility in water, operating in 6 degrees of freedom with PID control algorithms. The ROV features an aluminum frame and an acrylic electronics housing with modular configuration. It employs eight thrusters for optimized maneuverability. The electrical system is centered around a modular backplane PCB, enabling “plug and play” functionality, with integrated sensors for real-time monitoring and navigation. Testing in an indoor environment verified neutral buoyancy and structural integrity at depths up to 50.6 meters. Photogrammetry tests confirmed its capability for 3D underwater mapping, making it a reliable, low-cost option for underwater applications.