Mathematical model of the Guanay II AUV

Author

Gonzalez-Agudelo, Julian ; Masmitja, I. ; Gomariz-Castro, Spartacus ; Batlle, Carles ; Sarria-Gandul, David ; del-Rio-Fernandez, Joaquin

Author_Institution

SARTI Res. Group. Electron. Dept., Univ. Politec. de Catalunya, Vilanova i la Geltru, Spain

fYear

2013

fDate

10-14 June 2013

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

autonomous underwater vehicles; drag; hydrodynamics; mobile robots; robot dynamics; AUV dynamics; Guanay II AUV; Myring profile; autonomous underwater vehicle; backward movement capacity; thrusters disposition; tractable mathematical model; vehicle geometry; vehicle hydrodynamics; Equations; Hydrodynamics; Mathematical model; Propulsion; Vehicle dynamics; Vehicles; auv; mathematical model;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS - Bergen, 2013 MTS/IEEE

Conference_Location

Bergen

Print_ISBN

978-1-4799-0000-8

Type

conf

DOI

10.1109/OCEANS-Bergen.2013.6608056

Filename

6608056