Journal of Marine Science and Technology

, Volume 20, Issue 2, pp 199–212

Dynamic modeling of an autonomous underwater vehicle

Original article

DOI: 10.1007/s00773-014-0259-0

Cite this article as:
Wang, C., Zhang, F. & Schaefer, D. J Mar Sci Technol (2015) 20: 199. doi:10.1007/s00773-014-0259-0
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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.

Keywords

Autonomous underwater vehicle Dynamic modeling  

Copyright information

© JASNAOE 2014

Authors and Affiliations

  1. 1.The School of Electrical and Computer EngineeringThe Georgia Institute of TechnologyAtlantaUSA
  2. 2.The George W. Woodruff School of Mechanical EngineeringThe Georgia Institute of TechnologyAtlantaUSA

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