Authors:
Bjarni Helgason
1
;
Leifur Leifsson
1
;
Indridi Rikhardsson
1
;
Helgi Thorgilsson
2
and
Slawomir Koziel
1
Affiliations:
1
Reykjavik University, Iceland
;
2
Teledyne Gavia ehf, Iceland
Keyword(s):
Autonomous Underwater Vehicle, Low-speed Motion, Vehicle Dynamics, Simulation, Experimental Validation.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robotics and Automation
;
Space and Underwater Robotics
;
Vehicle Control Applications
Abstract:
Autonomous underwater vehicles (AUVs) have become important in many marine engineering applications, such as environmental monitoring, pipeline inspections, or oceanography. For these types of applications, most of the AUVs available in both academia and industry are shaped like a torpedo and travel at speeds of 3 knots or higher. There is an growing interest in AUVs that are capable of performing tasks at both low-speed as well as high speeds. Currently, many torpedo-shaped AUVs are not capable of controlled low-speed motion. This paper presents a simulation model for the low-speed motion of torpedo-shaped AUVs. The model is capable of simulating the surge, sway, heave, and yaw motions. The hydrodynamic forces acting on the AUV hull are modelled using strip theory, experimental data, and computational fluid dynamics. The simulation model was implemented using a commercially available software and validated using experimental data obtained from the Gavia AUV. The results show that th
e simulation model captures the AUV motion at low-speed and agrees well with the experimental data.
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