Navigation Modeling and Simulation for Canterbury Hover-Capable Underwater Vehicle

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dc.contributor.authorWang, W.
dc.contributor.authorEngelaar, R.
dc.contributor.authorVervoort, J.
dc.contributor.authorvan den Bosch, P.
dc.contributor.authorChase, Geoff
dc.contributor.authorChen, X.
dc.date.accessioned2010-05-25T21:31:14Z
dc.date.available2010-05-25T21:31:14Z
dc.date.issued2009en
dc.description.abstractDevelopment of underwater vehicles (UVs) has come to an era that UVs can be specifically designed and made for customized applications, based on established theories and principles. This paper reports on the Canterbury UV developed at the University of Canterbury, which targets to inspect and clean sea chests of ships to eliminate bio-security risks caused by small organisms residing in the sea chests. Based on the mechanical prototype, navigation of the Canterbury UV is discussed in principle with the aim to providing theoretical ground for the future implementation of navigation control. Simulation results of the UV model demonstrate that the vehicle can be controlled with satisfying performance using the extended Kalman filter.en
dc.identifier.citationWang, W., Engelaar, R., Vervoort, J., van den Bosch, P., Chase, G., Chen, X. (2009) Navigation Modeling and Simulation for Canterbury Hover-Capable Underwater Vehicle. Gifu, Japan: 9th IFAC Symposium on Robot Control (SYROCO '09), 9-12 Sep 2009.en
dc.identifier.urihttp://hdl.handle.net/10092/3887
dc.language.isoen
dc.publisherUniversity of Canterbury. Mechanical Engineeringen
dc.rights.urihttps://hdl.handle.net/10092/17651en
dc.subjectmodelingen
dc.subjectnavigationen
dc.subjectunderwater vehicleen
dc.subjectextended Kalman filteren
dc.subjectcontrolen
dc.subject.marsdenFields of Research::290000 Engineering and Technology::290300 Manufacturing Engineering::290301 Robotics and mechatronicsen
dc.subject.marsdenFields of Research::290000 Engineering and Technology::290500 Mechanical and Industrial Engineering::290501 Mechanical engineeringen
dc.titleNavigation Modeling and Simulation for Canterbury Hover-Capable Underwater Vehicleen
dc.typeConference Contributions - Published
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