Maneuvering simulation of multi-AUV self-propulsion in tandem

被引：0
|
作者：
Wu L. [1 ,2 ]
Huang Q. [1 ]
Wang S. [1 ]
Feng X. [2 ]
Li Y. [2 ]
Li S. [2 ]
机构：
[1] College of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian
[2] State key laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2022年 / 43卷 / 01期
关键词：
Autonomous underwater vehicle; CFD; Formation; Maneuvering motion; Multiple-bodies; Physics-based simulation; Propeller; Self-propulsion;
D O I：
10.11990/jheu.202011036
中图分类号：
学科分类号：
摘要：
Owing to the limitation to the phenomenon of model without propeller, and steady cruising for the hydrodynamic performance of AUVs in tandem, this paper presented unsteady maneuvering simulation of AUV self-propulsion in tandem using discretized propeller in a physics-based method. In the non-propeller towed AUV in tandem, an attraction force was produced from the leader AUV to the follower AUV. In comparison, the AUVs self-propulsion in tandem showed different results: 1) a repulsion force was produced from the leader AUV for the follower AUV, which increased the drag force, deceased the velocity, and increased the power consumption of the follower AUV. The spacing between the two AUVs increased. Furthermore, a temporal roll moment with oscillation in periods was also observed on the follower AUV. The method used in this paper helped to obtain the knowledge of flow interference between multi-AUVs to ensure the safety and predict accurately the energy during cooperation. Copyright ©2022 Journal of Harbin Engineering University.
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页码：1 / 8
页数：7
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