CORE: A Novel Cost-Effective Operational ROV Explorer

Abstract

The high cost of commercial Remotely Operated Vehicles (ROVs) presents a significant barrier to widespread  underwater research and infrastructure monitoring. CORE presents a novel, open-source, low-cost ROV designed for  accessibility and mass deployment. The prototype improves upon traditional six-thruster designs by utilizing an efficient  four-thruster configuration augmented with four servos. This innovative approach maintains full six-degree-of-freedom  (6-DOF) motion while drastically reducing the manufacturing cost from $3,500 to less than $1,000 per unit. Another mechanism is a linear  actuator system that adjusts the battery's position, changing the center of gravity of the ROV, thus providing pitch control without thruster power. A key performance  enhancement is the doubling of vertical thrust capacity, as all four thrusters can be dedicated to heave maneuvers, which  provides superior stability and payload capacity for various mission profiles. The control system simplifies piloting  through a sophisticated algorithm featuring single-axis automatic stabilization. With a compact 15.5-inch long by 5-inch  diameter frame, the ROV is highly portable and field-deployable in under 15 minutes. Its modular architecture is built  around 3D and laser cut parts, a Raspberry Pi, integrating a sensor suite that includes an IMU, pressure sensor, acoustic  modem, and a leak sensor. The design can be controlled through ethernet cable or acoustic modem. The versatile  platform is ideal for applications including critical infrastructure inspection, environmental monitoring, aquaculture  management, and search and rescue.