Control-oriented Model of Biomimetic Underwater Vehicle Motion

摘要

In the paper, the problem of modeling motion of Biomimetic Underwater Vehicle BUV has been taken into consideration. The model of the BUV motion has been designed for initial tuning and verification of the vehicle's autonomy system. The BUV is built within development project funded by Polish National Centre of Research and Development. At the end of the project, it is expected to achieve technology demonstrator at the 7th level of technology readiness. In the first part of the paper, a control-oriented mathematical model of the BUV designed for implementation of the simulator is described. Then, selected results of the BUV operation in the form of courses of the vehicle motion parameters are presented. Finally, general information about the implementation of the BUV model has been inserted.