Title :
Hydrodynamic performance calculation of mini-AUV in uneven flow field
Author :
Yu, Xianzhao ; Su, Yumin
Author_Institution :
Nat. Key Lab. of Sci. & Technol., Harbin Eng. Univ., Harbin, China
Abstract :
Mini-Autonomous Underwater Vehicle (mini-AUV), by the virtue of low cost, easy carried, has a promising future in the fields such as ocean science research, military application and commercial market. Mini-AUV is working in complex oceanic environments; the power of the thruster is limited for its small volume and light weight, sailing state of the mini-AUV is easy influenced by irregular ocean wave, current and vortex. The prediction of the mini-AUV hydrodynamic performance in complex oceanic environments is important to the maneuver and control system design. The hydrodynamic performance of a mini-AUV with axisymmetric body and tapered tail in uneven flow field with drift angle was calculated using the Finite Volume Method in conjunction with multi-block structure grid. The relationship between the velocity distribution and mini-AUV hydrodynamic performance was highlight in this paper.
Keywords :
control system synthesis; finite volume methods; hydrodynamics; mobile robots; oceanography; remotely operated vehicles; underwater vehicles; axisymmetric body; complex oceanic environment; control system design; drift angle; finite volume method; hydrodynamic performance calculation; miniAUV; miniautonomous underwater vehicle; multiblock structure grid; ocean wave; sailing state; tapered tail; thruster power; uneven flow field; velocity distribution; Computational fluid dynamics; Force; Hydrodynamics; Mathematical model; Numerical models; Oceans; Underwater vehicles; hydrodynamic performance; mini-AUV; uneven flow field;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723440
