6 Degrees of freedom (DOF) maritime robotic simulation framework

Author

Tan, Kuan Meng ; Anvar, Amir ; Lu, Tien-Fu

Author_Institution

Sch. of Mech. Eng., Univ. of Adelaide, Adelaide, SA, Australia

fYear

2010

fDate

7-10 Dec. 2010

Firstpage

799

Lastpage

804

Abstract

Testing and gauging Autonomous Underwater Vehicle (AUV) missions through observations and experimental trials prove to be time consuming and costly. A system capable of verifying the AUV control models prior to practical test is needed. One of the key aspects in the presented framework is AUV modeling which mainly covers the area of AUV dynamics. Based on this designed simulation framework, custom scenarios provided by the user can be modeled and its corresponding 6DOF dynamics can be observed. The simulation framework is built based on a developed AUV test-bed which was jointly upgraded by DSTO and the University of Adelaide.

Keywords

mobile robots; remotely operated vehicles; underwater vehicles; vehicle dynamics; 6 degrees of freedom maritime robotic simulation; AUV control; AUV dynamics; AUV test bed; DSTO; University of Adelaide; autonomous underwater vehicle mission; Acceleration; Adaptation model; Equations; Force; Mathematical model; Robots; Vehicle dynamics; Autonomous Underwater Vehicle (AUV); framework; maritime robot; robotics; simulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-7814-9

Type

conf

DOI

10.1109/ICARCV.2010.5707368

Filename

5707368