With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.

The article considers an approach to recognize an underwater object from its image obtained with the help of a technical vision system. The color of the object is used as a feature to distinguish the object in the image. The detection problem is solved for an AUV, which follows a trajectory within a monitoring mission to detect and classify an object with known characteristics. Based on the proposed method, a program has been developed to provide the AUV with an image of the detected object and its characteristics. The method is based on the analysis after transcoding from RGB to HSV. According to the experimental data, the brightness interval of the image, which is considered to be not corrupted and in which it is possible to detect objects, is determined.