Hydrodynamic modelling for the remotely operated vehicle Visor3 using CFD

This paper addresses the hydrodynamic modelling of an inspection-class remotely operated vehicle using a viscous-flow solver for the accurate prediction of manoeuvring coefficients needed for control purposes. The 6-DOF differential nonlinear equation of motion for the ROV visor3 is first described with emphasis on hydrodynamic terms. Then, the hydrodynamic model of the ROV is assembled from data obtained using the Virtual Captive Test (VCT)...