VITA1: An Unmanned Underwater Vehicle Prototype for Operation in Underwater Tunnels

Jorge, Vitor A. M.; Gava, Pedro Daniel de Cerqueira; Silva, Juan R. B. F.; Mancilha, Thais Machado; Vieira, Waldir; Adabo, Geraldo José; Nascimento, Cairo Lúcio

doi:10.1109/syscon48628.2021.9447108

Cited by 6 publications

(3 citation statements)

References 14 publications

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“…The simulated results are then quali-tatively compared with telemetry data captured when a real UUV was deployed in loco. We simulate a UUV named VITA1 [21], shown in Figure 10, which is a modified version of the BlueROV2 sold by Blue Robotics [22]. The configuration parameters that define the VITA1 dynamics were taken from a similar vehicle described in [23], and in Appendix A, it is explained how these parameters were loaded in the simulator.…”

Section: Methodsmentioning

confidence: 99%

“…This linear transformation is firstly considered static, and later, a time-variant possible solution is shown. Equation (21) shows the static case transformation,…”

Section: The Allocation Modulementioning

confidence: 99%

“…with n being the total number of propellers, we obtain the allocation matrix. Now, multiplying H by a column vector y containing the forces coming from the propellers, the resultant forces and torques vector b τ τ τ a is generated and shown in Equation (21). Figure 6 shows a block diagram of this transformation.…”

Section: The Allocation Modulementioning

confidence: 99%

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Simu2VITA: A General Purpose Underwater Vehicle Simulator

Gava

Nascimento

Silva

et al. 2022

Sensors

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This article presents an Unmanned Underwater Vehicle simulator named Simu2VITA, which was designed to be rapid to set up, easy to use, and simple to modify the vehicle’s parameters. Simulation of the vehicle dynamics is divided into three main Modules: the Actuator Module, the Allocation Module and the Dynamics Model. The Actuator Module is responsible for the simulation of actuators such as propellers and fins, the Allocation Module translates the action of the actuators into forces and torques acting on the vehicle and the Dynamics Module implements the dynamics equations of the vehicle. Simu2VITA implements the dynamics of the actuators and of the rigid body of the vehicle using the MATLAB/Simulink® framework. To show the usefulness of the Simu2VITA simulator, simulation results are presented for an unmanned underwater vehicle navigating inside a fully flooded tunnel and then compared with sensor data collected when the real vehicle performed the same mission using the controllers designed employing the simulator.

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Section: Methodsmentioning

confidence: 99%

“…This linear transformation is firstly considered static, and later, a time-variant possible solution is shown. Equation (21) shows the static case transformation,…”

Section: The Allocation Modulementioning

confidence: 99%