Abstract: Digital simulation of the full operation of a remotely operated vehicle (ROV) is an economically feasible way for algorithm pretesting and operator training prior to the actual underwater tasks, due to the huge difficulties encountered during the underwater test, high equipment cost, and the time-consuming nature of the process. In this paper, a human-interactive digital simulation platform is established for the navigation, motion, and teleoperated manipulation of work-class ROVs, and provides the human operator with the visualized full operation process. Specially, two mechanisms are presented in this platform: one provides the virtual simulation platform for operator training; the other provides real-time visual and force feedback when implementing the actual tasks. Moreover, an open data interface is designed for researchers for pretesting various algorithms before implementing the actual underwater tasks. Additionally, typical underwater scenarios of the ROV, including underwater sediment sampling and pipeline docking tasks, are selected as the case studies for hydrodynamics-based simulation. Human operator can operate the manipulator installed on the ROV via the master manipulator with the visual and force feedback after the ROV is navigated to the desired position. During the full operation, the dynamic windows approach (DWA)-based local navigation algorithm, sliding mode control (SMC) controller, and the teleoperation control framework are implemented to show the effectiveness of the designed platform. Finally, a user study on the ROV operation mode is carried out, and several metrics are designed to evaluate the superiority and accuracy of the digital simulation platform for immersive underwater teleoperation.

Key words: Underwater teleoperation; Telepresence; Navigation and motion control; Virtual reality; Visual and force assistance

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