Title :
6 DOF nonlinear AUV simulation toolbox
Author :
Chen, Xiaodong ; Marco, Dave ; Smith, Sam ; An, Edgar ; Ganesan, K. ; Healey, Tony
Abstract :
This paper describes the organization of 6 DOF nonlinear autonomous underwater vehicle (AUV) simulation toolbox, which is currently under development for the Ocean Explorer (OEX) series AWs developed at Florida Atlantic University. This software development is part of 5-year OM MURI effort of which its goal is to develop innovative tools and methodologies for the control of complex nonlinear dynamic systems. The purpose of this software simulation is to supply a flexible 3D-simulation platform for motion visualization, in-lab debugging and testing of mission-specific strategies as well as those related to C3 purposes. This software is currently jointly developed by the Ocean Engineering Department at Florida Atlantic University and Naval Postgraduate School for the FAU OEX and NPS Phoenix AUVs
Keywords :
digital simulation; large-scale systems; marine systems; nonlinear control systems; nonlinear dynamical systems; 6-DOF nonlinear AUV simulation toolbox; OEX; OM MURI; Ocean Explorer; Phoenix AUV; autonomous underwater vehicle; complex nonlinear dynamic systems; flexible 3D-simulation platform; in-lab debugging; mission-specific strategy testing; motion visualization; software development; Control systems; Hydrodynamics; Memory management; Oceans; Propellers; Remotely operated vehicles; Shape control; Underwater vehicles; Vehicle dynamics; Visualization;
Conference_Titel :
OCEANS '97. MTS/IEEE Conference Proceedings
Conference_Location :
Halifax, NS
Print_ISBN :
0-7803-4108-2
DOI :
10.1109/OCEANS.1997.624140
