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Hydrodynamic and thruster model validation for autonomous underwater vehicles

Chyba, Monique, Choi, S.K., Haberkorn, Thomas, Smith, Ryan N., & Weatherwax, Scott (2007) Hydrodynamic and thruster model validation for autonomous underwater vehicles. In Proceedings of the 26th International Conference on Offshore Mechanics and Arctic Engineering, American Society of Mechanical Engineers, San Diego, California, pp. 325-330.

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    Abstract

    From Pontryagin’s Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a test-bed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by considering pure motion trajectories and move into a rectangular trajectory which is a concatenation of pure surge and pure sway. These trajectories are tested using our numerical model and demonstrated by our AUV in the pool. In this paper we demonstrate that the above motions are realizable through our method, and we gain confidence in our numerical model. We conclude that using our current techniques, implementation of time efficient trajectories is likely to succeed.

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    ID Code: 40143
    Item Type: Conference Paper
    Additional URLs:
    DOI: 10.1115/OMAE2007-29061
    ISBN: 0791842703
    Subjects: Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Calculus of Variations Systems Theory and Control Theory (010203)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ship and Platform Hydrodynamics (091104)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Special Vehicles (091106)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2007 ASME
    Deposited On: 24 Mar 2011 09:49
    Last Modified: 25 Mar 2011 16:29

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