Hydrodynamic forces and moments acting on a remotely operate vehicle with an asymmetric shape moving in a vertical plane

Hydrodynamic models and coefficients are important parameters for predicting the maneuverability of a remotely operated vehicle (ROV). In this study, we present an experimental analysis of the hydrodynamic behavior of a new ROV with an asymmetric shape, which has a high capacity for holding more instruments onboard than other ROVs. We performed a series of towing tests where this ROV moved in a vertical plane. We provide the fitting formulae for forces and moments, as well as the corresponding hydrodynamic coefficients, which can be used to simulate the motions and to predict the maneuverability of the ROV. We also discuss the effects of the ROV’s asymmetric shape on its hydrodynamic coefficients