Autonomous underwater systems are very important as they could be a remarkable advancement in areas such as defence, pollution monitoring, deep sea mining, meteorology, flora and fauna exploration, etc. A fastidious static and dynam-ical model of the system is necessary for the implementation of an effective control system. The hydrodynamic parameters of the vehicle should also be considered for developing an accurate model of the vehicle. This paper presents the design, analysis and fabrication of an Autonomous Underwater Vehicle (AUV) with a simple yet effective design having 5 degrees of freedom. This paper also describes the static and dynamic modelling of the AUV. Hydrodynamic coefficients of the system are obtained through analysis and its aberrations are interpreted by varying different variables. The proposed AUV is equipped with six thrusters in order to achieve felicitous manoeuverability. The use of Aluminium extrusions for the frame of the vehicle makes the thruster configuration easily reconfigurable.
Modeling and Analysis of a Five Degrees of Freedom Autonomous Underwater Vehicle
01.10.2018
707230 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Fully coupled 6 degrees-of-freedom control of autonomous underwater vehicles
Tema Archiv | 2008
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