Modelling and simulation of an autonomous underwater vehicle

[摘要] In this thesis the mathematical modelling and simulation of an autonomousunderwater vehicle is presented.A generic six degree of freedom model suitable for AUV control applicationsis presented. This model is then tailored to the AUV testbeddeveloped by IMT. The model parameters are determined from vehiclegeometry alone. In addition to this, a linear model is presented and analysedin order to determine the modes of motion for AUV.The development of a generic visualisation system suitable for underwatervehicle simulations is also presented. A generic MATLAB basedAUV simulation system is developed, and used to supply the visualisationsystem with the necessary simulation data. Lastly, two examplesimulations are shown

[发布机构] Stellenbosch University