AUV Propulsion and Maneuvering by Means of Asymmetric Thrust

被引：0

作者：

Littlefield, Robin H. ^{[1
]}

Jaffre, Frederic ^{[1
]}

Kaeli, Jeffrey W. ^{[1
]}

机构：

[1] Woods Hole Oceanog Inst, Oceanog Syst Lab, Woods Hole, MA 02543 USA

来源：

2018 IEEE/OES AUTONOMOUS UNDERWATER VEHICLE WORKSHOP (AUV) | 2018年

关键词：

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

tWe present an Asymmetric Propulsion System (APS) capable of generating both forward thrust and a lateral turning moment by means of a single-bladed propeller [1]. At constant rotational speeds, forward thrust is provided in the same manner as a symmetrical multi-bladed propeller. By varying the instantaneous rotational speed throughout each revolution, an off-axis thrust bias can be generated. We demonstrate how this can be used to control and maneuver an underwater robot and discuss its advantages and applications to autonomous underwater vehicle (AUV) design and operation.

引用

页数：6

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