A Blue Robotic Sensor for Tech_SAS v1 ROV Depth Controller

摘要

Maintaining the depth position in underwater remotely operated robot is one of the needs in one of the categories in Singaporean Robot Games (SRG). To maintain depth, a sensor that can measure depth is needed. One sensor that can be used is using a depth pressure sensor. Robot Tech_SAS v1 is a small ROV prototype equipped with six thrusters, where four thrusters are configured to adjust pitch, roll and depth control capabilities. In this paper, 30bar pressure sensor from Bluerobotics and a PID control system is used to maintain depth according to the specified setpoint. The experiment is conducted in 50 cm depth aquarium tank, and the results show that the Tech_SAS v1 Robot can maintain depth with an average accuracy of 95.29%.