Modeling of underwater vehicle’s dynamics
نویسنده
چکیده
The paper presents algorithm of underwater vehicle’s dynamics modeling using technique of artificial neural networks. Paper includes mathematical description of used dynamical neurons and basis of its learning process. Next the results of research for real underwater vehicle were presented. Key-Words: artificial neural networks, dynamics modeling, underwater vehicles
منابع مشابه
The Neural Model of Dynamics of Unmanned Underwater Vehicle
In the paper using of the artificial neural networks for determination of coefficients of state equations of underwater vehicle’s motion in a horizontal plane and influence of neuron’s activation function for quality of underwater vehic le’s motion modelling is presented. The recurrent optimization network is used to identify parameters of the underwater vehicle’s dynamics. A structure and the ...
متن کاملModeling of Underwater Vehicle’s Movement Dynamics Using Neural Networks
In the paper the conception of creating the simulation model of underwater vehicle was introduced. There was briefly presented the mathematical model of vehicle using to the simulation. The paper includes also mathematical description of environment disturbance. Moreover in the paper were presented the mathematical description of all components of neural networks using for creating dynamics mod...
متن کاملDesign of an underwater glider platform for shallow-water applications
Underwater gliders are type of autonomous underwater vehicle that glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle’s buoyancy intermittently, vertical motion can be achieved. Characteristic of glider motions include upward and downward in a saw tooth pattern, turning and gliding in a vertical spiral motion glides without using thrusters or prope...
متن کاملIntelligent identification of vehicle’s dynamics based on local model network
This paper proposes an intelligent approach for dynamic identification of the vehicles. The proposed approach is based on the data-driven identification and uses a high-performance local model network (LMN) for estimation of the vehicle’s longitudinal velocity, lateral acceleration and yaw rate. The proposed LMN requires no pre-defined standard vehicle model and uses measurement data to identif...
متن کاملبررسی تجربی و تئوری رفتار دینامیکی زیرسطحیها
In recent years, unmanned vehicles have intensively been developed to reduce risk on human life for marine applications. Predicting the dynamics behavior of an autonomous underwater vehicle is important during the vehicle’s design phase. In other words to design an AUV, one must clarify its maneuverability and controllability based on a mathematical model. The mathematical model contains variou...
متن کامل