Manoeuvring Simulations and Trials of a Flatfish Type AUV
The flatfish type Autonomous Underwater Vehicle (AUV) "MARTIN" has been designed for a variety of tasks, including offshore pipeline inspection andenvironmental surveying. The paper describes the AUV in some detail. The hydrodynamic manoeuvrability data of the vessel, as determined by full...
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| Format: | Other Non-Article Part of Journal/Newspaper |
| Language: | English |
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American Society of Mechanical Engineers
1997
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| Online Access: | https://orbit.dtu.dk/en/publications/9f5f0729-0c8d-4e1d-8e92-d42a4f6cbfe9 |
| Summary: | The flatfish type Autonomous Underwater Vehicle (AUV) "MARTIN" has been designed for a variety of tasks, including offshore pipeline inspection andenvironmental surveying. The paper describes the AUV in some detail. The hydrodynamic manoeuvrability data of the vessel, as determined by full-scale PMM tank tests are presented. The test data have been used in a dedicated simulation program, intended for the development of "MARTIN"s control system and autopilot. The simulation program is used here to simulate a series of standard manoeuvres, such as turning circles and zigzag tests. Similar free-sailing manoeuvrability trial tests are described and compared to the simulations. The free-sailing manoeuvres were monitored by the Differential Global Positioning System (DGPS). |
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