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Underwater Vehicle System Identification Using Laser Light, Decoupled Dynamics and Evolutionary Algorithm

[+] Author Affiliations
Yu-Cheng Chou

National Sun Yat-sen University, Kaohsiung, Taiwan

Paper No. DETC2015-46251, pp. V009T07A050; 6 pages
doi:10.1115/DETC2015-46251
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME

abstract

This paper presents a new hybrid method, which integrates the structured laser light, decoupled dynamic models, and evolutionary optimization strategy, to identify dynamic parameters of autonomous underwater vehicles. This is the first research that investigates the utilization of laser scanned images for the system identification of underwater vehicles.

The AUV’s equations of motions and the dynamic parameter identification using the AUV’s decoupled motions will be illustrated. The working principles to calculate the AUV’s positons using the structured laser light will be explained with respect to the surge and pitch motions. The evolutionary optimization strategy used to generate the AUV’s dynamic parameters will be presented.

Copyright © 2015 by ASME

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