The computational work performed to navigate a biomimetic underwater vehicle autonomously is discussed. The navigation procedure uses as input a set of vehicle geometric and state variables, and from that it predicts the needed vehicle body deformations so that the vehicle can navigate through a set of given waypoints. The first task was to develop a two-dimensional numerical simulation based on an unsteady panel method coupled with the vehicle dynamics. Numerous test cases spanning the range of possible conditions were processed with the simulation, and these data were subsequently used to train a neural network. The trained network can predict what body deflection time history is necessary for the vehicle to navigate the given waypoints. Validation results are presented that show the accuracy of the present flow solver, and several test cases of autonomous navigation are presented to show the capabilities of the current method.
Computational simulation of the autonomous navigation of a biomimetic underwater vehicle
Rechnersimulation der autonomen Bewegung eines biomimetrischen Unterwasserfahrzeugs
AIAA Journal ; 41 , 4 ; 605-611
2003
7 Seiten, 14 Bilder, 22 Quellen
Article (Journal)
English
Autonomous Underwater Vehicle Navigation
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