Keywords
simulator
Abstract
In the paper, a simulator of an autonomous biomimetic underwater vehicle (BUV) destined for underwater reconnaissance has been presented. ABUV in the form of technology demonstrator on VII level of technology readiness will be the final effect of the development project No. DOBR-BIO4/033/13015/2013, funded by National Centre of Research and Development. In the first part of the paper, a mathematical model of the BUV designed for implementation of the simulator has been described. Then, selected results of the BUV operation in the form of courses of the vehicle motion parameters have been presented. First of all the simulator will be used for tuning initial version of autonomy system of the biomimetic underwater vehicle. Moreover, it will be used for simulation of operation of sensors installed on board of the BUV in conditions of undulating motion.
References
Colgate J.E., Lynch K.M., Mechanics and Control of Swimming: A Review, IEEE Journal of Oceanic Engineering, Vol. 29, No. 3, 2004, str. 660-673.
Fossen T.J., Guidance and Control of Ocean Vehicles, John Wiley and Sons Ltd., 1994.
Low K.H., Modelling and parametric study of modular undulating fin raysfor fish robots, Mechanism and Machine Theory, Vol. 44, 2009, str. 615–632.
Malec M., Morawski M., Szymak P., Trzmiel A., Analysis of Parameters of Traveling Wave Impact on the Speed of Biomimetic Underwater Vehicle, Trans Tech Publications, Solid State Phenomena, Vol. 210, 2014, str. 273-279.
Praczyk T., Szymak P., Decision System for a Team of Autonomous Underwater Vehicles – Preliminary Report, Elsevier, Neurocomputing (October 2011), 74 (17), str. 3323-3334.
Szymak P., Malec M., Morawski M., Directions of Development of Underwater Vehicle with Undulating Propulsion, HARD Publishing Company, Polish Journal of Environmental Studies, Vol.19, No.4A, 2010, str. 107-110.
Szymak P., Automatyczne sterowanie samobieżnym ładunkiem do zwalczania min podwodnych po zadanym torze, Przemysłowy Instytut Automatyki i Pomiarów, Pomiary, Automatyka i Robotyka Nr 2/2008, str. 433-440.
Szymak P. Praczyk T., Naus K., Scenariusze operacyjne dla Autonomicznego Biomimetycznego Pojazdu Podwodnego, Akademia Marynarki Wojennej, Materiały Konferencji KOSOP 2014, Ustka 2014.