An Open-Source Benchmark Simulator: Control of a BlueROV2 Underwater Robot

Malte von Benzon*, Fredrik Fogh Sørensen, Esben Uth, Jerome Jouffroy, Jesper Liniger, Simon Pedersen

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed and experimentally validated for benchmark control algorithms for underwater vehicles. The BlueROV2 model is based on Fossen’s equations and includes a kinematic model of the vehicle, the hydrodynamics of vehicle and water interaction, a dynamic model of the thrusters, and, lastly, the gravitational/buoyant forces. The hydrodynamic parameters and thruster model have been validated in a test facility. The benchmark model also includes the ocean current, modeled as constant velocity. The tether connecting the ROV to the top-site facility has been modeled using the lumped mass method and is implemented as a force input to the ROV model. At last, to show the usefulness of the benchmark model, a case study is presented where a BlueROV2 is deployed to inspect an offshore monopile structure. The case study uses a sliding mode controller designed for the BlueROV2. The controller fulfills the design criteria defined for the case study by following the provided trajectory with a low error. It is concluded that the simulator establishes a benchmark for future control schemes for position control and trajectory tracking under the influence of environmental disturbances.

Original languageEnglish
Article number1898
JournalJournal of Marine Science and Engineering
Issue number12
Number of pages27
Publication statusPublished - Dec 2022


  • benchmarking control algorithms
  • BlueROV2
  • modeling and control
  • underwater vehicles


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