학술논문
On the motion analysis of autonomous underwater vehicles under arbitrary waves
Document Type
Conference
Author
Source
2022 41st Chinese Control Conference (CCC) Chinese Control Conference, 2022 41st. :1349-1354 Jul, 2022
Subject
Language
ISSN
1934-1768
Abstract
In this paper, a linear AUV motion model of an autonomous underwater vehicle (AUV) is proposed based on a general nonlinear AUV model of six-degree-of-freedom. In this model, regular wave force conditions are established based on the Morison's formula with ocean wave mechanics. For the irregular waves with non-analytical flow field, the Monte Carlo method is proposed to compute wave force (moment). Based on the linear AUV motion model, the simulation models under linear (regular) and random (irregular) waves are developed, respectively. The effectiveness of the proposed motion model is shown with numerical simulations.