Numerical Study on Motion Simulation with Control Algorithm of Biomimetic Underwater Vehicle

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概要

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• This paper describes the numerical simulations of simple motion and motion control of a biomimetic underwater vehicle equipped with two pairs of mechanical pectoral fins. This biomimetic underwater vehicle is called PLATYPUS, which was developed several years ago in Osaka Univ. Practical and accurate control algorithm is necessary to make sure that the underwater vehicle can carry out the prescribed task successfully. For a long time our team has been developing a CFD-based motion simulator with Fuzzy control algorithm. In this paper, firstly motion simulation without control algorithm in still water is given and then motion simulations with distance control and Point-To-Point (PTP) control using Fuzzy control algorithm were described.

著者

• Kato Naomi

  Osaka Univ.

• Ueda So

  Osaka Univ.

• Suzuki Hiroyoshi

  Osaka Univ.

• Fukui Yo

  IHI corporation

関連論文

• Numerical Study on Motion Simulation with Control Algorithm of Biomimetic Underwater Vehicle
• Underwater Navigation for Long-Range Autonomous Underwater Vehicles Using Geomagnetic and Bathymetric Information
• Effects of Cross Section and Flexibility of Pectoral Fins on the Swimming Performance of Biomimetic Underwater Vehicles
• Three-dimensional Hydrodynamic Analysis of Forelimb Propulsion of Sea Turtle With Prosthetic Flippers

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