Research on the Trajectory Prediction of a Twin Screw AUV Based on an Accurate Dynamic Model
文献类型：会议论文
| 作者 | Kang S(康帅)1,2,3 ; Yu JC(俞建成)1,2; Zhang J(张进)1,2; Hu F(胡峰)1,2
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| 出版日期 | 2021 |
| 会议日期 | July 15-17, 2021 |
| 会议地点 | Dalian, China |
| 关键词 | twin screw AUV turning maneuverability trajectory prediction hydrodynamic coefficient identification |
| 页码 | 567-572 |
| 英文摘要 | Twin screw AUVs can support unmanned operation in offshore engineering due to their good turning maneuverability. However, it is difficult to accurately predict the trajectory of AUVs because the hydrodynamic coefficients in their dynamic models are difficult to identify accurately. In this paper, a hybrid hydrodynamic coefficient identification method is proposed to support the model-based trajectory prediction of AUVs. First, some linear hydrodynamic coefficients are identified by the PMM test. Second, the remaining hydrodynamic coefficients are identified by the free-running test, using the identified hydrodynamic coefficients as prior knowledge. To verify the feasibility and effectiveness of the proposed method, turning simulations of a twin screw AUV are carried out using the CFD method. The results show that the trajectory prediction of the AUV based on the proposed method is accurate, verifying that the proposed method is effective. |
| 产权排序 | 1 |
| 会议录 | 2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-3576-5 |
| 源URL | [http://ir.sia.cn/handle/173321/29896]  |
| 专题 | 海洋机器人卓越创新中心 |
| 通讯作者 | Zhang J(张进) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang, China 2.State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang, China 3.University of Chinese Academy of Sciences Beijing, China |
| 推荐引用方式 GB/T 7714 | Kang S,Yu JC,Zhang J,et al. Research on the Trajectory Prediction of a Twin Screw AUV Based on an Accurate Dynamic Model[C]. 见:. Dalian, China. July 15-17, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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