This paper describes the results in the third year of a multi-year program to develop an improved understanding of the practical applications of oscillating fins, and to demonstrate the utility of replacing cumbersome thrusters with a suite of oscillating fins designed to optimize the hovering and low-speed maneuvering performance of an undersea vehicle. This paper deals with the guidance and control of an underwater vehicle equipped with 2 pairs of oscillating fins in waves and in water currents. The robot was guided first from a far point to a near point to a vertical flat wall, and secondly along the wall, directing its head to the wall and maintaining the set distance to the wall; this maneuver was performed in waves. The robot was also guided from a far point to an underwater post for docking, in water currents flowing perpendicularly to the course.
Biology-inspired precision maneuvering of underwater vehicles-Part 3
Biologie-inspiriertes Präzisions-Manövrieren von Unterwasserfahrzeugen-Teil 3
International Journal of Offshore and Polar Engineering ; 15 , 2 ; 81-87
2005
7 Seiten, 15 Quellen
Article (Journal)
English
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