Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009. / In this thesis the mathematical modelling and simulation of an autonomous
underwater vehicle is presented.
A generic six degree of freedom model suitable for AUV control applications
is presented. This model is then tailored to the AUV testbed
developed by IMT. The model parameters are determined from vehicle
geometry alone. In addition to this, a linear model is presented and analysed
in order to determine the modes of motion for AUV.
The development of a generic visualisation system suitable for underwater
vehicle simulations is also presented. A generic MATLAB based
AUV simulation system is developed, and used to supply the visualisation
system with the necessary simulation data. Lastly, two example
simulations are shown
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/2429 |
| Date | 03 1900 |
| Creators | Busch, Regardt |
| Contributors | Peddle, I. K., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. |
| Publisher | Stellenbosch : University of Stellenbosch |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Stellenbosch |
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