Bottom surveys such as bathymetry, pipeline and cable inspections, sub-bottom pofiling, side-scan surveys, etc. can be carried out by Autonomous Underwater Vehicles (AUVs), which offer an attractive alternative to conventional methods employing Remotely Operated Vehicles (ROVs) or paravanes. The flatfish type AUV 'MARTIN' has been designed for a variety of tasks, including offshore pipeline inspection and environmental surveying. The paper describes the AUV in some detail. The hydrodynamic manoevrability data of the vessel, as determined by full-scale Planar Motion Mechanism (PMM) tamk tests are presented. The test data have been used in a dedicated simulation program, intended for the development of 'MARTIN's control system and autopilot. The simulation program is used here to simulate a series of standard manoeuvres, such as turning circles and zigtag tests. Similar free-sailing maneuvrability trial tests are described and compared to the simulations. The free-sailing manoeuvres were monitored by the Differential Global Positioning System (DGPS).
Manoeuvring simulations and trials of a flatfish type AUV
Simulation der Manövrierung und Versuche eines plattfischförmigen autonomen Unterwasserfahrzeugs
1997
8 Seiten, 9 Bilder, 2 Tabellen, 9 Quellen
Conference paper
English
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