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Manoeuvring Trials with the MUN Explorer AUV: Data Analysis and Observations


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Issac, M and Adams, S and He, M and Bose, N and Williams, C and Bachmayer, R and Crees, T (2007) Manoeuvring Trials with the MUN Explorer AUV: Data Analysis and Observations. In: MTS/IEEE Oceans 2007, 29 Sep - 4 Oct 2007, Vancouver.

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Manoeuvring trials are usually performed to
determine the manoeuvring characteristics of a marine vehicle. It
is through certain standard manoeuvres we evaluate the
robustness, performance and limitations of the vehicle control
system. A series of open-water manoeuvring trials were
performed using the MUN Explorer AUV in the summer of 2006.
The actual purpose of these experiments was to collect a set of
experimental data in order to validate a hydrodynamic model of
the dynamic performance of the vehicle. This paper presents the
results and observations from the analysis of a set of
manoeuvring trials data: in particular the results from straightline
(acceleration – deceleration) tests and turning circles. It
outlines briefly the method by which these tests were conducted
and discusses the results and observations made. Apart from
providing a data set for validation purposes, the results also
indicate the ability of the vehicle to follow a pre-planned mission
with precision.

Item Type: Conference or Workshop Item (Paper)
Keywords: Explorer AUV, autonomous underwater vehicle, maneuvers, turning circle, zigzag maneuver
Date Deposited: 11 Mar 2008 12:05
Last Modified: 18 Nov 2014 03:30
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