Identification of motion model parameters for a small hybrid-propelled unmanned underwater vehicle (HUUV)
Autor
Talarczyk, Tomasz
Morawski, Marcin
Malec, Marcin
Garncarz, Michał
Opublikowane w
Technical Transactions
Numeracja
Vol. 122, iss. 1
Data wydania
2025
Miejsce wydania
Warsaw
Wydawca
Sciendo
Sekcja czasopisma
Mechanics
Język
angielski
eISSN
2353-737X
DOI
https://doi.org/10.37705/TechTrans/e2025031
Słowa kluczowe
HUUV model parameters identification, underwater vehicle motion analysis
Abstrakt
This paper presents the development of a motion model for a hybrid-propelled unmanned underwater vehicle (HUUV) and its verification through MATLAB® simulations and experimental tests conducted with a real vehicle in a swimming pool. The motion tracking method, utilizing a GoPro Hero 6 camera and Tracker® software, was employed to measure the vehicle’s forward velocities, sideslip angles, and circulation radii under various thrust settings. The experimental results were compared with those obtained from simulations using the same thruster configurations. The proposed model is intended to support the development of control algorithms for groups of HUUVs.
