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Underwater Robotic Vehicles (URVs), generally, consist of two main classes, namely the Remotely Operated Vehicles (ROVs) and the Autonomous Underwater Vehicles (AUVs). ~ I n this paper, a simplified model of a thruster and a general equation of rigid body motion for an underactuated ROV am presented. Then the nonlinear and coupling effects on the ROV, from(More)
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