Preliminary experimental result of the ROV iTurtle

This video shows the preliminary experimental result of an underwater robot named iTurtle developed by KRISO (Korea Research Institute of Ships and Ocean Engineering). iTurtle is especially designed for underwater-structure inspection as an observation class ROV. It has dimming and direction controllable LED and halogen lights and a HD underwater camera, all of which are positioned by four horizontal thrusters. More importantly, its system software architecture is implemented using the structure explained in Fig. 25.7. The motion in this video is controlled by a human operator.