HYDRODYNAMIC AND THRUSTER MODEL VALIDATION FOR AUTONOMOUS UNDERWATER VEHICLES

机译：自主水下航行器的动力和推力模型验证

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From Pontryagin's Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a test-bed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by considering pure motion trajectories and move into a rectangular trajectory which is a concatenation of pure surge and pure sway. These trajectories are tested using our numerical model and demonstrated by our AUV in the pool. In this paper we demonstrate that the above motions are realizable through our method, and we gain confidence in our numerical model. We conclude that using our current techniques, implementation of time efficient trajectories is likely to succeed.

机译：从蓬特里亚金的最高原则到卡哈纳莫库公爵水上乐园，我们发展了这一理论，并为试验台自动水下航行器（AUV）生成了可行的省时弹道。本文是从理论到实现的旅程的开始。我们首先考虑纯运动轨迹，然后移动到矩形轨迹中，该矩形轨迹是纯喘振和纯摆动的结合。这些轨迹使用我们的数值模型进行了测试，并通过我们的AUV在池中进行了演示。在本文中，我们证明了上述运动可以通过我们的方法实现，并且我们对数值模型充满信心。我们得出结论，使用我们当前的技术，时间高效轨迹的实现很可能会成功。

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来源
《International Conference on Offshore Mechanics and Arctic Engineering 2007(OMAE2007) vol.4; 20070610-15; San Deigo,CA(US)》|2007年|P.325-330|共6页
会议地点 San DeigoCA(US)
作者
M. Chyba; T. Haberkorn; R.N. Smith; S.K. Choiand Scott Weatherwax;
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作者单位

Department of Mathematics;

Department of Ocean Resources Engineering;

Autonomous Systems Laboratory, College of Engineering University of Hawaii Honolulu, Hawaii 96822;

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会议组织
原文格式 PDF
正文语种 eng
中图分类海洋工程;
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机译：自主水下航行器的水动力和推进器模型验证

HYDRODYNAMIC AND THRUSTER MODEL VALIDATION FOR AUTONOMOUS UNDERWATER VEHICLES

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