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.


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    Title :

    Development of a computational hydrodynamic model for a biomimetic underwater autonomous vehicle


    Additional title:

    Entwicklung eines hydrodynamischen Modells für ein autonomes biomimetrisches Unterwasserfahrzeug


    Contributors:

    Published in:

    AIAA Journal (online) ; 45 , 5 ; 961-971


    Publication date :

    2007


    Size :

    11 Seiten, 18 Bilder, 23 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English