Mathematical model of the Guanay II AUV

被引：0

作者：

Gonzalez-Agudelo, Julian ^{[1
]}

Masmitja, Ivan ^{[1
]}

Gomariz-Castro, Spartacus ^{[1
]}

Batlle, Carles ^{[2
]}

Sarria-Gandul, David ^{[1
]}

del-Rio-Fernandez, Joaquin ^{[1
]}

机构：

[1] Univ Politecn Cataluna, SARTI Res Grp, Dept Elect, Rambla Exposicio,61-69 Neapolis Bldg, Barcelona 08800, Spain

[2] Univ Politecn Cataluna, ACES Res Grp, MA4 & IOC, E-08028 Barcelona, Spain

来源：

2013 MTS/IEEE OCEANS - BERGEN | 2013年

关键词：

auv; mathematical model;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile, which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.

引用

页数：6

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