Small ROV with 8 propellers.

Small ROVs have high practical value and low prices. However, insufficient power and the smaller mass of small ROVs often means they are easily disturbed by flow when working or monitoring underwater, making it very difficult to realize hovering, heading keeping and target locking. These problems restrict the widespread adoption of small ROVs.

To solve the problem, this research develops a self-stabilization control mechanism for small ROVs under uncertain flow conditions with a design based on visual feedback and multi-sensor data fusion.

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