An Analysis of Simplifying Model Assumptions for Autonomous Underwater Vehicles
| Autor: | Daniel J. Stilwell, Scott B. Gibson, Michael E. Kepler |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Computer science
Motion (geometry) Equations of motion 020101 civil engineering 02 engineering and technology 01 natural sciences Symmetry (physics) Field (computer science) 010305 fluids & plasmas 0201 civil engineering Data modeling Computer Science::Robotics Vehicle dynamics Control theory Drag 0103 physical sciences Underwater |
| Zdroj: | OCEANS 2018 MTS/IEEE Charleston. |
| DOI: | 10.1109/oceans.2018.8604700 |
| Popis: | The equations of motion for an autonomous underwater vehicle can be written compactly by invoking several simplifying assumptions, such as top-bottom symmetry. For a typical streamlined tail-controlled autonomous underwater vehicle, the simplifying assumptions are well-motivated. For vehicles that possess a less conventional shape, the same simplifying assumptions may not be appropriate. For the specific case of the Trawl-Resistant Self-Mooring AUV, which has an unconventional shape, we experimentally assess the efficacy of invoking typical assumptions to simplify the equations of motion. Using data acquired during field trials, we show that the simplified equations of motion adequately represent the motion of the Trawl-Resistant Self-Mooring AUV when performing decoupled motions. |
| Databáze: | OpenAIRE |
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