Title :
Modeling and Simulation of the VideoRay Pro III Underwater Vehicle
Author :
Wang, Wei ; Clark, Christopher M.
Author_Institution :
Waterloo Univ., Waterloo
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;
Conference_Titel :
OCEANS 2006 - Asia Pacific
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0138-3
Electronic_ISBN :
978-1-4244-0138-3
DOI :
10.1109/OCEANSAP.2006.4393862
