6 DOF nonlinear AUV simulation toolbox

Author

Chen, Xiaodong ; Marco, Dave ; Smith, Sam ; An, Edgar ; Ganesan, K. ; Healey, Tony

Volume

2

fYear

1997

fDate

6-9 Oct 1997

Firstpage

1070

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;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '97. MTS/IEEE Conference Proceedings

Conference_Location

Halifax, NS

Print_ISBN

0-7803-4108-2

Type

conf

DOI

10.1109/OCEANS.1997.624140

Filename

624140