SIMULATION AND EXPERIMENTAL STUDIES OF A MOBILE ROBOT FOR UNDERWATER APPLICATIONS

Arockia Selvakumar Arockia Doss,∗ Deepak Venkatesh,∗∗ and Mark Ovinis∗∗∗

References

  1. [1] R.B. Wynn, V.A.I. Huvenne, T.P. Le Bas, et al. Autonomous underwater vehicles (AUVs): Their past, present and future contributions to the advancement of marine geoscience, Marine Geology, 352, 2014, 451–468.
  2. [2] C.T.F. Ross, A conceptual design of an underwater vehicle, Ocean Engineering, 33(16), 2006, 2087–2104.
  3. [3] S.A. Gafurov and E.V. Klochkov, Autonomous unmanned underwater vehicles development tendencies, Procedia Engineering, 106, 2015, 141–148.
  4. [4] T. Joung, K. Sammut, F. He, and S.-K. Lee, A study on the design optimization of an RUV by using computational fluid 16 dynamic analysis, The Nineteenth International Offshore and Polar Engineering Conf., International Society of Offshore and Polar Engineers, Osaka, Japan, 2009.
  5. [5] J.V.N. De Sousa, A.R.L. de Macedo, W.F. de Amorim Jr, and A.G.B. de Lima, Numerical analysis of turbulent fluid flow and drag coefficient for optimizing the RUV hull design, Open Journal of Fluid Dynamics, 4(03), 2014, 263.
  6. [6] M. Manjunatha, A.A. Selvakumar, V.P. Godeswar, and R. Manimaran, A low cost underwater robot with grippers for visual inspection of external pipeline surface, Procedia Computer Science, 133, 2018, 108–115.
  7. [7] Z.Q. Leong, D. Ranmuthugala, I. Penesis, and H. Nguyen, Quasi-static analysis of the hydrodynamic interaction effects on an autonomous underwater vehicle operating in proximity to a moving submarine, Ocean Engineering, 106, 2015, 175–188.
  8. [8] Z.Q. Leong, D. Ranmuthugala, A.L. Forrest, and J. Duffy, Numerical investigation of the hydrodynamic interaction between two underwater bodies in relative motion, Applied Ocean Research, 51, 2015, 14–24.
  9. [9] S. Kumar, A. Selvakumar, and P. Nalini, Development of autonomous robot for underwater applications, International Journal of Control Theory and Applications, 9(13), 2016, 6249–6260.
  10. [10] E.A. De Barros, A. Pascoal, and E. de Sa, Investigation of a method for predicting RUV derivatives, Ocean Engineering, 35(16), 2008, 1627–1636.
  11. [11] J.L.D. Dantas and E.A. de Barros, Numerical analysis of control surface effects on AUV manoeuvrability, Applied Ocean Research, 42, 2013, 168–181.
  12. [12] L. Wu, Y. Li, S. Su, P. Yan, and Y. Qin, Hydrodynamic analysis of RUV underwater docking with a cone-shaped dock under ocean currents, Ocean Engineering, 85, 2014, 110–126.
  13. [13] S. Gomatam, S. Vengadesan, and S.K. Bhattacharyya, Numerical simulations of flow past an autonomous underwater vehicle at various drift angles, Journal of Naval Architecture and Marine Engineering, 9(2), 2012, 135–152.
  14. [14] O. Saout and P. Ananthakrishnan, Hydrodynamic and dynamic analysis to determine the directional stability of an underwater vehicle near a free surface, Applied Ocean Research, 33(2), 2011, 158–167.
  15. [15] Y.-c. Pan, H.-x. Zhang, and Q.-d. Zhou, Numerical prediction of submarine hydrodynamic coefficients using CFD simulation, Journal of Hydrodynamics, Series B, 24(6), 2012, 840–847.
  16. [16] J.L.D. Dantas and E.A. de Barros, A real-time simulator for AUV development, ABCM Symposium Series in Mechatronics, Gramado, RS, Brazil, vol. 4, 2010, 499–508.
  17. [17] B. Allotta, A. Caiti, L. Chisci, et al., Development of a navigation algorithm for autonomous underwater vehicles, IFACPapersOnLine, 48(2), 2015, 64–69.
  18. [18] D. Zhu, C. Cheng, and B. Sun, An integrated AUV path planning algorithm with ocean current and dynamic obstacles, International Journal of Robotics and Automation, 31(5), 2016, 382–389.
  19. [19] H. Yu, A. Shen, and Y. Su, Continuous motion planning in complex and dynamic underwater environments, International Journal of Robotics and Automation, 30(2), 2015. 10.2316/Journal.206.2015.2.206-4279.
  20. [20] A. Jebelli, M.C.E. Yagoub, and B.S. Dhillon, Design and control of underwater robots with rotating thrusters, International Journal of Robotics and Automation (IJRA), 5(4), 2016, 284–294. ISSN: 2089-4856.
  21. [21] S. Garrido, L. Moreno, D. Blanco, and P. Jurewicz, Path planning for mobile robot navigation using Voronoi diagram and fast marching, International Journal of Robotics and Automation (IJRA), 2(1), 2011, 42–64.
  22. [22] K. Alam, T. Ray, and S.G. Anavatti, Design and construction of an autonomous underwater vehicle, Neurocomputing, 142, 2014, 16–29.
  23. [23] M.S.M. Aras, H.A. Kasdirin, M.H. Jamaluddin, M.F. Basar, and U. Elektrik, Design and development of an autonomous underwater vehicle (AUV-FKEUTeM), In Proceedings of MUCEET2009 Malaysian Technical Universities Conference on Engineering and Technology, MUCEET2009, MS Garden, Kuantan, Pahang, Malaysia, 2009, 1–5.
  24. [24] P.N. Joubert, Some aspects of submarine design. Part 2. Shape of a submarine 2026. No. DSTO-TR-1920, Defence Science and Technology Organisation Victoria (AUSTRALIA), 2006.
  25. [25] Z.M. Zain and S.B.M. Rawi, A drift force on submerged body in AUV design, Journal of Electrical, Electronics, Control and Instrumentations Engineering, 1(2), 2016, 10–15.
  26. [26] P. Stevenson, M. Furlong, and D. Dormer, RUV shapes combining the practical and hydrodynamic considerations, Oceans 2007-Europe, Aberdeen, Scotland, IEEE, 2007, 1–6.

Important Links:

Go Back