Modeling and Simulation of Motion of an Underwater Robot Glider for Shallow-water Ocean Applications
نویسنده
چکیده
This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing glider design. It may be also used to validate a robot glider design. Keywords—AUV, underwater glider, robot, modeling, simulation.
منابع مشابه
An Approach for Operation Depth Reduction of an Underwater Glider Propelled by Ocean Thermal Energy
The underwater Gliders are a kind of autonomous vehicles that have a special role in ocean surveys which demand continuous monitoring and long endurance. Because of low energy consumption and long endurance, these vehicles are favorite for these missions. Among this, a type of gliders can harvest ocean thermal energy, causing significant endurance increase. These vehicles need at least 680 mete...
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 کاملNumerical simulation of hydrodynamic properties of Alex type gliders
Simulation of an underwater glider to investigate the effect of angle of attack on the hydrodynamic coefficients such as lift, drag, and torque. Due to the vital role of these coefficients in designing the controllers of a glider and to obtain an accurate result, this simulation has been studied at a range of operating velocities. The total length of the underwater glider with two wings is 900 ...
متن کاملتوسعه یک مدل سه بعدی روبات ماهی و مقایسه آزمایشگاهی نتایج
Biomimetic underwater vehicle design has attracted the attention of researchers for various reasons such as ocean investigation, marine environmental protection, exploring fish behaviors and detecting the leakage of oil pipe lines. Fish and other aquatic animals have good maneuverability and trajectory following capability. They also efficiently stabilize themselves in currents and surges leave...
متن کاملEvaluation of underwater acoustic propagation model (Ray theory) in a river using Fluvial Acoustic Tomography System
Underwater acoustics is widely used in many applications, such as oceanography, marine biology, hydrography, fishery, etc. Different models are introduced to simulate the underwater acoustic propagation in the oceans and the seas. In this study, the Ray Theory model is used to simulate the acoustic wave propagation in a shallow-freshwater river (Gono River) located in western part of Japan. The...
متن کامل