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Modelling and simulation of an autonomous underwater vehicle
Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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Stellenbosch : University of Stellenbosch
2009
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| _version_ | 1867613944225464320 |
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| access_status_str | Open Access |
| author | Busch, Regardt |
| author2 | Peddle, I. K. |
| author_browse | Busch, Regardt Peddle, I. K. |
| author_facet | Peddle, I. K. Busch, Regardt |
| author_sort | Busch, Regardt |
| collection | Thesis |
| dc_rights_str_mv | University of Stellenbosch |
| description | Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/2429 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:44:10.803Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2009 |
| publishDateRange | 2009 |
| publishDateSort | 2009 |
| publisher | Stellenbosch : University of Stellenbosch |
| publisherStr | Stellenbosch : University of Stellenbosch |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/2429 Modelling and simulation of an autonomous underwater vehicle Busch, Regardt Peddle, I. K. University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Autonomous underwater vehicle5 Dissertations -- Electrical and electronic engineering Theses -- Electrical and electronic engineering Remote submersibles Remote submersibles 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 2009-02-25T14:13:57Z 2010-06-01T08:48:35Z 2009-02-25T14:13:57Z 2010-06-01T08:48:35Z 2009-03 Thesis http://hdl.handle.net/10019.1/2429 en University of Stellenbosch application/pdf Stellenbosch : University of Stellenbosch |
| spellingShingle | Autonomous underwater vehicle5 Dissertations -- Electrical and electronic engineering Theses -- Electrical and electronic engineering Remote submersibles Remote submersibles Busch, Regardt Modelling and simulation of an autonomous underwater vehicle |
| title | Modelling and simulation of an autonomous underwater vehicle |
| title_full | Modelling and simulation of an autonomous underwater vehicle |
| title_fullStr | Modelling and simulation of an autonomous underwater vehicle |
| title_full_unstemmed | Modelling and simulation of an autonomous underwater vehicle |
| title_short | Modelling and simulation of an autonomous underwater vehicle |
| title_sort | modelling and simulation of an autonomous underwater vehicle |
| topic | Autonomous underwater vehicle5 Dissertations -- Electrical and electronic engineering Theses -- Electrical and electronic engineering Remote submersibles Remote submersibles |
| url | http://hdl.handle.net/10019.1/2429 |
| work_keys_str_mv | AT buschregardt modellingandsimulationofanautonomousunderwatervehicle |