Modeling and simulation of a mini AUV in spatial motion

Abstract

Accurate modeling and simulation of autonomous underwater vehicle (AUV) is essential for autonomous control and maneuverability research. In this paper, a mini AUV- “MAUV-II” was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of “MAUV-II”, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the “MAUV-II” has good spatial maneuverability, and verify the feasibility and reliability of control software.

Keywords

AUV / kinematics model / dynamics model / motion control / simulation