Manoeuvring Simulations and Trials of a Flatfish Type AUV

Christian Aage

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

    Abstract

    The flatfish type Autonomous Underwater Vehicle (AUV) "MARTIN" has been designed for a variety of tasks, including offshore pipeline inspection andenvironmental surveying. The paper describes the AUV in some detail. The hydrodynamic manoeuvrability data of the vessel, as determined by full-scale PMM tank tests are presented. The test data have been used in a dedicated simulation program, intended for the development of "MARTIN"s control system and autopilot. The simulation program is used here to simulate a series of standard manoeuvres, such as turning circles and zigzag tests. Similar free-sailing manoeuvrability trial tests are described and compared to the simulations. The free-sailing manoeuvres were monitored by the Differential Global Positioning System (DGPS).
    Original languageEnglish
    Title of host publicationProceedings of the 16th International Conference on Offshore Mechanics and Arctic Engineering - OMAE 1997
    Place of PublicationYokohama
    PublisherAmerican Society of Mechanical Engineers
    Publication date1997
    Pages157-162
    Publication statusPublished - 1997
    Event16th International Conference on Offshore Mechanics and Arctic Engineering - OMAE 1997 - Yokohama
    Duration: 1 Jan 1997 → …

    Conference

    Conference16th International Conference on Offshore Mechanics and Arctic Engineering - OMAE 1997
    CityYokohama
    Period01/01/1997 → …

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