Validation of multi-body modelling methodology for reconfigurable underwater robots
Chapter, Peer reviewed
Accepted version
Permanent lenke
http://hdl.handle.net/11250/2469292Utgivelsesdato
2016Metadata
Vis full innførselSamlinger
- Institutt for marin teknikk [3469]
- Institutt for teknisk kybernetikk [3789]
- Publikasjoner fra CRIStin - NTNU [38525]
Originalversjon
10.1109/OCEANS.2016.7761240Sammendrag
This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules. The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems.