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Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments

This thesis explores the feasibility of using morphing rudders in autonomous
underwater vehicles (AUVs) to improve their performance in complex current
environments. The modeling vehicle in this work corresponds to the Florida Atlantic
University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is
limited to the horizontal plane and includes the effect of ocean current. The main
contribution of this thesis is the use of active rudders to successfully achieve path
keeping and station keeping of an AUV under the influence of unsteady current force.
A constant ocean current superimposed with a sinusoidal component is considered.
The vehicle's response is analyzed for a range of current frequencies. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2014. / FAU Electronic Theses and Dissertations Collection

Identiferoai:union.ndltd.org:fau.edu/oai:fau.digital.flvc.org:fau_13476
ContributorsMeneses, Andrea M. (author), Su, Tsung-Chow (Thesis advisor), Florida Atlantic University (Degree grantor), College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
PublisherFlorida Atlantic University
Source SetsFlorida Atlantic University
LanguageEnglish
Detected LanguageEnglish
TypeElectronic Thesis or Dissertation, Text
Format100 p., application/pdf
RightsCopyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder., http://rightsstatements.org/vocab/InC/1.0/

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