2.
Karavaev Y. L., Klekovkin A. V., Mamaev I. S., Tenenev V. A., Vetchanin E. V.
A Simple Physical Model for Control of an Propellerless Aquatic Robot
Journal of Mechanisms and Robotics, 2022, vol. 14, no. 1, 011007, 11 pp.
Abstract
pdf (981.69 Kb)
This paper is concerned with the motion of an aquatic robot whose body has the form of a
sharp-edged foil. The robot is propelled by rotating the internal rotor without shell deformation.
The motion of the robot is described by a finite-dimensional mathematical model
derived from physical considerations. This model takes into account the effect of added
masses and viscous friction. The parameters of the model are calculated from comparison
of experimental data and numerical solution to the equations of rigid body motion and the
Navier–Stokes equations. The proposed mathematical model is used to define controls
implementing straight-line motion, motion in a circle, and motion along a complex trajectory.
Experiments for estimation of the efficiency of the model have been conducted.
Keywords: |
aquatic robot, propulsion in a fluid, periodic control action, motion planning, identification of parameters of the model |
Citation: |
Karavaev Y. L., Klekovkin A. V., Mamaev I. S., Tenenev V. A., Vetchanin E. V., A Simple Physical Model for Control of an Propellerless Aquatic Robot, Journal of Mechanisms and Robotics, 2022, vol. 14, no. 1, 011007, 11 pp. |
DOI: |
10.1115/1.4051240 |
Full text: |
pdf
(981.69 Kb)
|
Journal Info
Impact-factor WoS (2022): |
2.600 (Q2) |
Impact-factor RSCI (2022): |
0.756 (Q1) |
ISSN (print): |
1942-4302 |
ISSN (online): |
1942-4310 |
Site: |
https://asmejmr.org/ |