Modelling and simulation of an autonomous underwater vehicle
Date
2009-03
Authors
Busch, Regardt
Journal Title
Journal ISSN
Volume Title
Publisher
Stellenbosch : University of Stellenbosch
Abstract
In this thesis the mathematical modelling and simulation of an autonomous
underwater vehicle is presented.
A generic six degree of freedom model suitable for AUV control applications
is presented. This model is then tailored to the AUV testbed
developed by IMT. The model parameters are determined from vehicle
geometry alone. In addition to this, a linear model is presented and analysed
in order to determine the modes of motion for AUV.
The development of a generic visualisation system suitable for underwater
vehicle simulations is also presented. A generic MATLAB based
AUV simulation system is developed, and used to supply the visualisation
system with the necessary simulation data. Lastly, two example
simulations are shown
Description
Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.
Keywords
Autonomous underwater vehicle5, Dissertations -- Electrical and electronic engineering, Theses -- Electrical and electronic engineering, Remote submersibles