Manoeuvring Experiments Using the MUN Explorer AUV

Abstract

-Autonomous Underwater Vehicles (AUVs) are self-propelled robotic platforms that can perform a predetermined mission completely unmanned. A series of manoeuvring experiments were performed using the MUN Explorer AUV during the summer of 2006 and a selection of these experimental results are presented in this paper. The purpose of these experiments was to collect a set of useful data for validating a hydrodynamic model of the dynamic performance of the vehicle. This paper aims at explaining the methods and measures adopted in accomplishing this task. Apart from providing a data set for validation of the hydrodynamic model, the data record also shows the ability of the AUV to perform extreme manoeuvres and the accuracy with which it can follow a pre-planned mission.

Nomoto Indices for Constant-Depth Zigzag Manoeuvres of an Autonomous Underwater Vehicle

“…Ten runs of turning circle manoeuvres with an approach speed of 1 m/s at a constant depth of 3 m that were reported by Issac et al [8] were used to tune the response of the simulation model for the radius of turn and rate of turn . e relative errors between the test and simulation results in the radius of turn and the rate of turn for those ten runs varied between 10% and 35%.…”

“…A set of manoeuvring experiments was performed using the AUV during the summer of 2006 [8] and several later trials. However, to obtain a more complete understanding of the vehicle's hydrodynamics, additional towing tank tests and computer simulation are required, because (i) performing sea trials is costly and exposes risks to the vehicle, (ii) data such as forces and moments are not measured during a free-running trial, and (iii) the effects of environmental loads and control actions on the manoeuvring are inseparable during sea trials.…”

Analysis of horizontal zigzag manoeuvring trials from the MUN Explorer AUV

“…Figure 1 shows the MUN Explorer AUV being deployed for a mission. A detailed description of the vehicle and its various features, the equipment, the sensors and other instruments it uses can be found in reference [5]. Note the presence of large forward dive planes and the X-configuration of the four tail planes.…”

“…The water depth ranged from 10 m to 50 m and more. A detailed description of the different tests that were conducted as well as the methods and measures used to perform these were reported in detail in [5]. Further, the data analysis and observations from straight-line tests and a portion of the turning circles were reported in [6].…”

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

“…The vehicle is equipped with a retractable communications mast at the aft end, which can extend up to one metre above the body in order to reach out of the water to take position fixes when the vehicle climbs near the ocean surface; the antenna retracts back into the body automatically when the vehicle submerges. A detailed description of the various features of the vehicle, the equipments, sensors and other instruments it uses can be found in [4]. Figure 1 below shows the MUN Explorer AUV on the wharf ready to be launched.…”