Fast Calibration Procedure of the Dynamic Model of an Autonomous Underwater Vehicle from a Reduced Set of Experimental Data

摘要

AUVs (Autonomous Underwater Vehicles) represent an interesting industrial product with applications ranging from the monitoring of cultural and natural heritage to the inspection of underwater plants for the Oil and Gas industry. Development of AUVs also represents an interesting challenge for researchers and engineers involving a melting of different competences of robotics, mechanics and mechatronics. In particular, this paper is focused on the simulation, identification and validation of simplified hydrodynamic models that can be used for the overall verification and simulation of vehicle performances including aspects related to manoeuvrability and controllability of the system. The identification and validation process described in this work is based on past experiences with the Typhoon AUV built by the MDM Lab (Mechatronics and Dynamic Modelling Laboratory) of the University of Florence, Italy.