A Simulation System Platform For Designing And Debugging Problems Of Motion Controller

2361 WordsOct 20, 201610 Pages
In recent years autonomous underwater vehicles have come under the light for their vast applications. To acquire improvement in autonomous underwater vehicle’s (AUV) applications vehicle autonomy, underwater communications, motion control, dynamics modeling as well as simulation system is neede3d to be touched. These issues are needed to be resolved through a spiral development process which is included at sea experimentation. To provide a simulation system platform for designing and debugging problems of motion controller, a 3-Degree of Freedom (3-DOF) dynamic model for AUV is examined. Based on a dynamic model controlled by thruster and fin with appendages, a simulation system is established and motion performance is analyzed. Also an implementation of active submarine warfare is tested. Signal processing capabilities and adaptive behavior were analyzed via simulation. The results demonstrate that AUV has good maneuverability with or without appendages. The implications for underwater surveillance are discussed in both simulation and experimental context. Key Words Autonomous underwater vehicle; Target localization, tracking and on-board processing; motion performance and dynamic modeling; behavior based robotics; simulation system Introduction The interest and research works based on autonomous underwater vehicle has increased a lot in recent years. Because of the mass applications of AUVs for security, maintenance as well as under water research works it is really

More about A Simulation System Platform For Designing And Debugging Problems Of Motion Controller

Open Document