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An underwater vehicle maneuvering simulation: focus on turning maneuvers


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Azarsina, F, Bose, N and Seif, MS 2007 , 'An underwater vehicle maneuvering simulation: focus on turning maneuvers' , Journal of Ocean Technology, vol. 2, no. 1 , pp. 54-73 .

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Maneuvering of an underwater vehicle was studied under the action of its dynamic control systems. The equations
of motion were solved numerically in the original state without any linearization or other simplification. The underwater
vehicle was assumed to be a rigid body with 6 DOF (Degrees Of Freedom) moving in calm water. To reduce the
complexity of the real motion, some simplifying assumptions were applied to the hydrodynamic forces and moments.
The computer code developed, using MATLAB TM7.1, can simulate versatile states of the underwater vehicle maneuvering.
As an example, the turning maneuvers are demonstrated in detail. The simulation is applicable to either large manned
submarines or AUVs (Autonomous Underwater Vehicles), however the sample simulations are performed for large

Item Type: Article
Authors/Creators:Azarsina, F and Bose, N and Seif, MS
Keywords: autonomous underwater vehicle, maneuvering, simulation
Journal or Publication Title: Journal of Ocean Technology
ISSN: 1718 3200
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