Modeling an autonomous underwater vehicle with four-thrusters

Zainah Md Zain, Keigo Watanabe, Tomomi Danjo, Kiyotaka Izumi, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In order to reduce the drag forces against a stream for an X4-autonomous underwater vehicle (AUV), a new type of hull shape is considered with an ellipsoid body. The associated dynamical model is derived by using a Lagrangian mechanics, as well as taking account of the effect of added mass and inertia.

Original languageEnglish
Title of host publicationProceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
Pages934-937
Number of pages4
Publication statusPublished - 2010
Event15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan
Duration: Feb 4 2010Feb 6 2010

Other

Other15th International Symposium on Artificial Life and Robotics, AROB '10
CountryJapan
CityBeppu, Oita
Period2/4/102/6/10

Fingerprint

Autonomous underwater vehicles
Drag
Mechanics

Keywords

  • AUV
  • Dynamical model
  • Kinematic model
  • Nonholonomic systems
  • Underactuated control system

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Zain, Z. M., Watanabe, K., Danjo, T., Izumi, K., & Nagai, I. (2010). Modeling an autonomous underwater vehicle with four-thrusters. In Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 (pp. 934-937)

Modeling an autonomous underwater vehicle with four-thrusters. / Zain, Zainah Md; Watanabe, Keigo; Danjo, Tomomi; Izumi, Kiyotaka; Nagai, Isaku.

Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 934-937.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zain, ZM, Watanabe, K, Danjo, T, Izumi, K & Nagai, I 2010, Modeling an autonomous underwater vehicle with four-thrusters. in Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. pp. 934-937, 15th International Symposium on Artificial Life and Robotics, AROB '10, Beppu, Oita, Japan, 2/4/10.
Zain ZM, Watanabe K, Danjo T, Izumi K, Nagai I. Modeling an autonomous underwater vehicle with four-thrusters. In Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 934-937
Zain, Zainah Md ; Watanabe, Keigo ; Danjo, Tomomi ; Izumi, Kiyotaka ; Nagai, Isaku. / Modeling an autonomous underwater vehicle with four-thrusters. Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. pp. 934-937
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