A Motion Model for a Complex-Shaped Remotely Operated Underwater Vehicle


  • Dung Thai Nguyen Le Quy Don Technical University, Hanoi, Vietnam
  • Vladimír Horák University of Defence in Brno, Czech Republic
  • Ha Thu Tran Institute of Mechanics, Hanoi, Vietnam
  • Luc The Nguyen Le Quy Don Technical University, Hanoi, Vietnam
  • Chinh Quang Hoang Le Quy Don Technical University, Hanoi, Vietnam




mathematical model, motion equation, remotely operated underwater vehicle, Runge- Kutta method, water flow


The knowledge of velocities of a remotely operated underwater vehicle (ROV) is crucial for the study of the ROV motion. The ROV motion equations are complemented by hydrodynamic parameters and forces acting upon the ROV. The matrices of hydrodynamic damping coefficients and external forces acting upon the ROV are considered in this study as well. The computational results obtained by the Runge-Kutta method are compared with the experiment. It appears that the presented model can be useful for the design and investigation of remotely operated underwater vehicles.


Author Biography

Vladimír Horák, University of Defence in Brno, Czech Republic

Department of Mechanical Engineering, Professor


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How to Cite

Nguyen, D. T., Horák, V., Tran, H. T., Nguyen, L. T., & Hoang, C. Q. (2020). A Motion Model for a Complex-Shaped Remotely Operated Underwater Vehicle. Advances in Military Technology, 15(2), 343–353. https://doi.org/10.3849/aimt.01403



Research Paper