A multi-body approach for 6DOF modeling of biomimetic autonomous underwater vehicles with simulation and experimental results

P. Krishnamurthy, Farshad Khorrami, J. De Leeuw, M. E. Porter, K. Livingston, J. H. Long

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

Abstract

We propose a six degree-of-freedom multi-body approach for modeling and simulation of Biologically-inspired (or Biomimetic) Autonomous Underwater Vehicles (BAUVs), i.e., artificial fish. The proposed approach is based on considering the BAUV as comprised of multiple rigid bodies interlinked through joints; the external force and torque on each rigid body in the BAUV is expressed using quasi-steady aerodynamic theory and the joint constraints are imposed through an impulse-based technique. A BAUV simulation platform has been implemented based on the proposed modeling framework and has been applied to analyze a specific BAUV inspired by the electric ray. The hardware implementation of the electric ray inspired BAUV is also presented. Finally, sample simulation results and validation against experimental data collected from the electric ray inspired BAUV are also presented.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Control Applications, CCA '09
Pages1282-1287
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Control Applications, CCA '09 - Saint Petersburg, Russian Federation
Duration: Jul 8 2009Jul 10 2009

Other

Other2009 IEEE International Conference on Control Applications, CCA '09
CountryRussian Federation
CitySaint Petersburg
Period7/8/097/10/09

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Cite this

Krishnamurthy, P., Khorrami, F., De Leeuw, J., Porter, M. E., Livingston, K., & Long, J. H. (2009). A multi-body approach for 6DOF modeling of biomimetic autonomous underwater vehicles with simulation and experimental results. In 2009 IEEE International Conference on Control Applications, CCA '09 (pp. 1282-1287). [5280956] https://doi.org/10.1109/CCA.2009.5280956