Modeling an autonomous underwater vehicle with four-thrusters

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

Modeling an autonomous underwater vehicle with four-thrusters

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

School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 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 language	English
Title of host publication	Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
Pages	934-937
Number of pages	4
Publication status	Published - Dec 1 2010
Event	15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan Duration: Feb 4 2010 → Feb 6 2010

Publication series

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

Other

Other	15th International Symposium on Artificial Life and Robotics, AROB '10
Country/Territory	Japan
City	Beppu, Oita
Period	2/4/10 → 2/6/10

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

Cite this

Modeling an autonomous underwater vehicle with four-thrusters. / Zain, Zainah Md; Watanabe, Keigo; Danjo, Tomomi et al.
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 934-937 (Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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. 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.

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KW - Kinematic model

KW - Nonholonomic systems

KW - Underactuated control system

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Modeling an autonomous underwater vehicle with four-thrusters

Abstract

Publication series

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Keywords

ASJC Scopus subject areas

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