Modeling methods for underwater robotic vehicle dynamics

摘要

Abstract Models of the open‐loop dynamics for prototype Remotely Operated Underwater Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are required for performance prediction and autopilot design. This article describes techniques which can be used to derive these models. The methods may be conveniently grouped into predictive techniques i.e., those which require only vehicle design data and which predict dynamics before the prototype is built and testing techniques i.e., methods which measure open‐loop dynamics from the trials performance of a prototype ROV. The relative benefits and drawbacks of the various methods are examined.