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 - Dec 1 2010
Event15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan
Duration: Feb 4 2010Feb 6 2010

Publication series

NameProceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10

Other

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

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

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  • 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). (Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10).