Design and hydrodynamic modeling of a lake surface cleaning robot

This paper presents the design and hydrodynamic model of an autonomous robot for cleaning rubbish floating on the surface of a lake. We first address criteria and technical issues in designing such a lake surface cleaning robot (LSCR). A prototype robot with 4 pontoons is further developed. This paper also models hydrodynamics of the prototype robot using the maneuvering model group (MMG) model approach based on a simplified model of three degrees of freedom. The hydrodynamic forces and moments of the pontoons, propulsion and steering forces are derived. Using the hydrodynamic model, we have conducted numerical simulations on viscous resistance of the water, the velocity field and pressure field around the robot.