Model identification for BlueRov2 Heavy control in Depth Hold Mode
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12112Keywords:
Modelado e identificación de sistemas marinos, Diseño de sistemas de control, Control no lineal, Modelling, Identification and Signal Processing, Control Design, Non-Linear Control Systems, Marine SystemsAbstract
This paper presents the identification of a simple kinematic model focused on the control of a commercial, remotely operated,
open source, customisable vehicle, that has been widely used in latest years, the BlueRov2 Heavy vehicle. In addition, the vehicle
has different modes of operation. Specifically, Depth Hold Mode is used, and the relationship between control inputs and the
velocities they produce in the vehicle is analysed to define the 2D model. Measurements of linear and angular velocities are
obtained from the vehicle’s sensors. The model parameters are identified using the least squares technique. The purpose of this
model is to serve as the basis for a high-level autonomous kinematic control that sends velocity commands that the vehicle can
follow and that is focused on applications where the vehicle has to hold a depth.
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Copyright (c) 2025 Cristina Cerrada , Dictino Chaos, David Moreno-Salinas, Joaquín Aranda
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