This report describes the digital simulation of underwater inspection vehicles. The dynamics and kinematics of the underwater vehicles have been studied in terms of the differential equations which can present the three dimensional motion of the vehicle (rotational and translational motion). In order to bring the motion of the vehicle under the control of the operator in a supervisory fashion, several control algorithms have been described. The digital dynamic models of two underwater vehicles ALVIN (Woods Hole Oceanographic Institution) and RCV150 (Hydro Products) have been used to simulate the control algorithms in performing some complicated tasks such as bottom-following. The results are shown in terms of computer graphic pictures.
Computer Simulation and Control of Underwater Vehicles
1982
154 pages
Report
No indication
English
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