This work describes the development of a computational model created to autonomously navigate a fishlike underwater vehicle with a multivertebra spine and a flexible tail. First, a two-dimensional numerical simulation, developed previously, and based on an unsteady panel method, was coupled with the vehicle, spine, and tail dynamics. Numerous test cases spanning a wide range of swimming conditions were processed with the simulation, and these data were subsequently used to train an artificial neural network. The navigation procedure/neural network uses as input a set of vehicle geometric and state variables, and from that, it predicts the needed vehicle body deformations, i.e., necessary spine vertebrae rotations, so that the vehicle can navigate through a set of given waypoints. Validation results are presented that show the accuracy of the present flow-structure interaction solver, and several test cases of autonomous navigation are presented to show the capabilities of the current method.
Development of a computational hydrodynamic model for a biomimetic underwater autonomous vehicle
Entwicklung eines hydrodynamischen Modells für ein autonomes biomimetrisches Unterwasserfahrzeug
AIAA Journal (online) ; 45 , 5 ; 961-971
2007
11 Seiten, 18 Bilder, 23 Quellen
Article (Journal)
English
Computational simulation of the autonomous navigation of a biomimetic underwater vehicle
Tema Archive | 2003
|