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Dynamic modeling of an autonomous underwater vehicle

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Abstract

The EcoMapper is an autonomous underwater vehicle that has broad applications, such as water quality monitoring and bathymetric survey. To simulate its dynamics and to precisely control it, a dynamic model is needed. In this paper, we develop a mathematical model of the EcoMapper based on computational-fluid-dynamics calculations, strip theory, and open-water tests. We validate the proposed model with the results of the field experiments carried out in the west pond in the Georgia Tech Savannah Campus.

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Authors and Affiliations

  1. The School of Electrical and Computer Engineering, The Georgia Institute of Technology, Atlanta, GA, USA

    Chuanfeng Wang & Fumin Zhang

  2. The George W. Woodruff School of Mechanical Engineering, The Georgia Institute of Technology, Atlanta, GA, USA

    Chuanfeng Wang & Dirk Schaefer

Authors
  1. Chuanfeng Wang
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  2. Fumin Zhang
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  3. Dirk Schaefer
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Corresponding author

Correspondence to Chuanfeng Wang.

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Wang, C., Zhang, F. & Schaefer, D. Dynamic modeling of an autonomous underwater vehicle. J Mar Sci Technol 20, 199–212 (2015). https://doi.org/10.1007/s00773-014-0259-0

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  • DOI: https://doi.org/10.1007/s00773-014-0259-0

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