Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/77027
Type: | Journal article |
Title: | Autonomous underwater vehicle (AUV) dynamics modeling and performance evaluation |
Author: | Tan, K. Anvar, A. Lu, T. |
Citation: | Proceedings of the World Academy of Science, Engineering and Technology, 2012; 70:1547-1555 |
Publisher: | WASET |
Issue Date: | 2012 |
ISSN: | 2010-3778 |
Statement of Responsibility: | K. M. Tan, A. Anvar, and T.F. Lu |
Abstract: | A sophisticated simulator provides a cost-effective measure to carry out preliminary mission testing and diagnostic while reducing potential failures for real life at sea trials. The presented simulation framework covers three key areas: AUV modeling, sensor modeling, and environment modeling. AUV modeling mainly covers the area of AUV dynamics. Sensor modeling deals with physics and mathematical models that govern each sensor installed onto the AUV. Environment model incorporates the hydrostatic, hydrodynamics, and ocean currents that will affect the AUV in a real-time mission. Based on this designed simulation framework, custom scenarios provided by the user can be modeled and its corresponding behaviors can be observed. This paper focuses on the accuracy of the simulated data from AUV model and environmental model derived from a developed AUV test-bed which was jointly upgraded by DSTO and the University of Adelaide. The main contribution of this paper is to experimentally verify the accuracy of the proposed simulation framework. |
Keywords: | Autonomous Underwater Vehicle (AUV) simulator framework robotics maritime robot modeling. |
Rights: | Copyright status unknown |
Description (link): | http://www.waset.org/journals/waset/v70.php |
Published version: | http://www.waset.org/journals/waset/v70/v70-116.pdf |
Appears in Collections: | Aurora harvest 4 Mechanical Engineering publications |
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