Development and Construction of a Simulation Platform for a New R-ROV

As humans continue to develop the ocean, facing the exploration of the extreme environment of the deep sea on Earth, a Resident-ROV (R-ROV) has the advantage of not being restricted by sea conditions, an ultralong umbilical cable and other factors compared to a traditional ROV, which greatly extends ROV subsea operation time. In addition, underwater vehicles with autonomous or semiautonomous intervention capabilities are gradually attracting the attention of scholars. Therefore, this paper analyzes the dynamics of a self-developed R-ROV, constructs a control system and builds a simulation platform. On the one hand, the platform can reduce the cognitive fatigue caused by an operator's long-time attention in the traditional ROV remote operation. On the other hand, it provides an effective platform for the autonomous or semiautonomous operation ability of an R-ROV and its verification before task deployment on the actual hardware, which greatly shortens the research and development cycle time.