Modeling and Simulation of the VideoRay Pro III Underwater Vehicle

Author

Wang, Wei ; Clark, Christopher M.

Author_Institution

Waterloo Univ., Waterloo

fYear

2007

fDate

16-19 May 2007

Firstpage

1

Lastpage

7

Abstract

Accurate modeling and simulation of underwater vehicles is essential for autonomous control. In this paper, we present a dynamic model of the VideoRay Pro III microROV, in which the hydrodynamic derivatives are determined both theoretically and experimentally, based on the assumption that the motions in different directions are decoupled. The experiments show that this assumption is reasonable within operating conditions of the VideoRay Pro III. A computer simulation with 3D graphics is also developed to help user to visualize the vehicle´s motion.

Keywords

computer aided analysis; electrical engineering computing; motion control; remotely operated vehicles; underwater vehicles; 3D graphics; VideoRay Pro III; autonomous underwater vehicle control; computer simulation; hydrodynamic derivatives; microROV dynamic modeling; underwater vehicle modeling; underwater vehicle motion; underwater vehicle simulation; Angular velocity; Fluid dynamics; Hydrodynamics; Intelligent robots; Marine vehicles; Predictive models; Remotely operated vehicles; Space vehicles; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2006 - Asia Pacific

Conference_Location

Singapore

Print_ISBN

978-1-4244-0138-3

Electronic_ISBN

978-1-4244-0138-3

Type

conf

DOI

10.1109/OCEANSAP.2006.4393862

Filename

4393862