Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles
From Pontryagin’s Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a test-bed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by consideri...
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ftqueensland:oai:eprints.qut.edu.au:40143 2024-02-04T09:56:31+01:00 Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles Chyba, Monique Haberkorn, Thomas Smith, Ryan Choi, Song Weatherwax, Scott Yim, S C 2007 application/pdf https://eprints.qut.edu.au/40143/ unknown American Society of Mechanical Engineers https://eprints.qut.edu.au/40143/1/40143.pdf doi:10.1115/OMAE2007-29061 Chyba, Monique, Haberkorn, Thomas, Smith, Ryan, Choi, Song, & Weatherwax, Scott (2007) Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles. In Yim, S C (Ed.) Proceedings of the ASME 26th International Conference on Offshore Mechanics and Arctic Engineering, Volume 4: Materials Technology; Ocean Engineering. American Society of Mechanical Engineers, United States of America, pp. 325-330. https://eprints.qut.edu.au/40143/ Faculty of Built Environment and Engineering; School of Engineering Systems free_to_read Consult author(s) regarding copyright matters This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au Proceedings of the ASME 26th International Conference on Offshore Mechanics and Arctic Engineering, Volume 4: Materials Technology; Ocean Engineering Chapter in Book, Report or Conference volume 2007 ftqueensland https://doi.org/10.1115/OMAE2007-29061 2024-01-08T23:26:39Z From Pontryagin’s Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a test-bed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by considering pure motion trajectories and move into a rectangular trajectory which is a concatenation of pure surge and pure sway. These trajectories are tested using our numerical model and demonstrated by our AUV in the pool. In this paper we demonstrate that the above motions are realizable through our method, and we gain confidence in our numerical model. We conclude that using our current techniques, implementation of time efficient trajectories is likely to succeed. Book Part Arctic Queensland University of Technology: QUT ePrints Volume 4: Materials Technology; Ocean Engineering 325 330 |
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Queensland University of Technology: QUT ePrints |
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ftqueensland |
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unknown |
description |
From Pontryagin’s Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a test-bed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by considering pure motion trajectories and move into a rectangular trajectory which is a concatenation of pure surge and pure sway. These trajectories are tested using our numerical model and demonstrated by our AUV in the pool. In this paper we demonstrate that the above motions are realizable through our method, and we gain confidence in our numerical model. We conclude that using our current techniques, implementation of time efficient trajectories is likely to succeed. |
author2 |
Yim, S C |
format |
Book Part |
author |
Chyba, Monique Haberkorn, Thomas Smith, Ryan Choi, Song Weatherwax, Scott |
spellingShingle |
Chyba, Monique Haberkorn, Thomas Smith, Ryan Choi, Song Weatherwax, Scott Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles |
author_facet |
Chyba, Monique Haberkorn, Thomas Smith, Ryan Choi, Song Weatherwax, Scott |
author_sort |
Chyba, Monique |
title |
Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles |
title_short |
Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles |
title_full |
Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles |
title_fullStr |
Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles |
title_full_unstemmed |
Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles |
title_sort |
hydrodynamic and thruster model validation for autonomous underwater vehicles |
publisher |
American Society of Mechanical Engineers |
publishDate |
2007 |
url |
https://eprints.qut.edu.au/40143/ |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
Proceedings of the ASME 26th International Conference on Offshore Mechanics and Arctic Engineering, Volume 4: Materials Technology; Ocean Engineering |
op_relation |
https://eprints.qut.edu.au/40143/1/40143.pdf doi:10.1115/OMAE2007-29061 Chyba, Monique, Haberkorn, Thomas, Smith, Ryan, Choi, Song, & Weatherwax, Scott (2007) Hydrodynamic and thruster model validation for Autonomous Underwater Vehicles. In Yim, S C (Ed.) Proceedings of the ASME 26th International Conference on Offshore Mechanics and Arctic Engineering, Volume 4: Materials Technology; Ocean Engineering. American Society of Mechanical Engineers, United States of America, pp. 325-330. https://eprints.qut.edu.au/40143/ Faculty of Built Environment and Engineering; School of Engineering Systems |
op_rights |
free_to_read Consult author(s) regarding copyright matters This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au |
op_doi |
https://doi.org/10.1115/OMAE2007-29061 |
container_title |
Volume 4: Materials Technology; Ocean Engineering |
container_start_page |
325 |
op_container_end_page |
330 |
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1789960990993940480 |