A Dynamical Model of Autonomous Vehicles with Time-varying Resistance of Fluid

摘要

This paper describes a time-dependent dynamics model of autonomous underwater vehicle (AUV). It is important for developing or controlling the AUV that the active forces on the vehicle are exactly evaluated, including propulsion, hydrodynamics and gravity. As compared with existent dynamics model, the model improves the computational approach, that is, the Navier-Stokes equations are solved to obtain the velocity and pressure distribution around vehicles at each time step, then the distributed pressure and velocity is integrated to estimate the fluid resistance. When the Navier-Stokes equations are solved, the overlap grid method is employed to eliminate the limitation that the vehicle can not move freely on grid. In conclusion the simulation is done for a simplified AUV by the model. The results show the feasibility and efficiency to research the performance and controller of velocity variable AUV.