Modeling and Simulation of the VideoRay Pro III Underwater Vehicle
Modeling and Simulation of the VideoRay Pro III Underwater Vehicle
复制标题
VideoRay Pro III 水下航行器的建模与仿真
DOI：
10.1109/oceansap.2006.4393862
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
C. Clark
中科院分区：
文献类型：
--
作者：
Wei Wang;C. Clark
水下机器人的精确建模与仿真是实现自主控制的基础。在本文中，我们提出了一个动态模型的VideoRay Pro III microcameras，其中的流体动力学导数的理论和实验确定的基础上，假设在不同方向上的运动是解耦的。实验表明，在VideoRay Pro III的操作条件下，这种假设是合理的。一个计算机仿真与三维图形也被开发，以帮助用户可视化的车辆的运动。
Accurate modeling and simulation of underwater vehicles is essential for autonomous control. In this paper, we present a dynamic model of the VideoRay Pro III microROV, in which the hydrodynamic derivatives are determined both theoretically and experimentally, based on the assumption that the motions in different directions are decoupled. The experiments show that this assumption is reasonable within operating conditions of the VideoRay Pro III. A computer simulation with 3D graphics is also developed to help user to visualize the vehicle's motion.