Chinese Journal of Ship Research, Volume. 17, Issue 6, 216(2022)

Rolling test and dynamics simulation of spherical underwater vehicle

Pengfei XU1,2, Tao LYU1, Tong GE2, Hongxia CHENG1, and Min ZHAO2
Author Affiliations
  • 1College of Harbour, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China
  • 2School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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    References(10)

    [2] [2] CHOI H T, HANAI A, CHOI S K, et al. Development of an underwater robot, ODINIII[C]Proceedings of 2003 IEEERSJ International Conference on Intelligent Robots Systems. Las Vegas, NV, USA: IEEE, 2003: 836841.

    [3] [3] DO K D, JIANG Z P, PAN J, et al. Global output feedback universal controller f stabilization tracking of underactuated ODINan underwater vehicle[C]Proceedings of the 41st IEEE Conference on Decision Control. Las Vegas, NV, USA: IEEE, 2002: 504509.

    [5] [5] PREZ M C. A proposal of a behavibased control architecture with reinfcement learning f an autonomous underwater robot[D]. Catalonia: University of Girona, 2008: 4760.

    [6] [6] WATSON S A, CRUTCHLEY D J P, GREEN P N. The design technical challenges of a microautonomous underwater vehicle (μAUV)[C]2011 IEEE International Conference on Mechatronics Automation. Beijing: IEEE, 2011: 567572.

    [7] [7] WATSON S A, GREEN P N. A decoupled vertical controller f microautonomous underwater vehicles (μAUV)[C]2011 IEEE International Conference on Mechatronics Automation. Beijing: IEEE, 2011: 561566.

    [10] [10] YE P, SUN H X, QIU Z J, et al. Design motion control of a spherical robot with stereovision[C]2016 IEEE 11th Conference on Industrial Electronics Applications. Hefei, China: IEEE, 2016: 12761282.

    [16] [16] HALME A, SCHNBERG T, WANG Y. Motion control of a spherical mobile robot[C]Proceedings of 4th IEEE International Wkshop on Advanced Motion ControlAMC''96MIE. Mie, Japan: IEEE, 1996.

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    Pengfei XU, Tao LYU, Tong GE, Hongxia CHENG, Min ZHAO. Rolling test and dynamics simulation of spherical underwater vehicle[J]. Chinese Journal of Ship Research, 2022, 17(6): 216

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    Paper Information

    Category: Ship Design and Performance

    Received: Nov. 5, 2021

    Accepted: --

    Published Online: Mar. 26, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.02583

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