EXPERIMENTAL MEASUREMENT OF MANEUVERING DYNAMICS AND AUTONOMY FOR A CYCLOIDAL-PROPELLER EQUIPPED AMP
Abstract
In this project, we propose to collaborate with partners at the University of Michigan and Texas A&M University to study the vehicle, dynamics of a novel submersible amphibious vehicle under autonomous control. To support this effort, the University of Iowa propose,s to support experimental benchmarking, data collection, and analysis for the free-running amphibious model. The objectives of this,proposal are as follows:1. Develop a multi-DOF motion platform for system identification of added mass and damping in 5-DOF motion o,f a cycloidal-propeller-equipped submersible amphibian.2. Perform multi-scale testing of resistance and maneuvering derivatives of s,ubmersible amphibian.3. Integrate low-level control with facility sensor feeds and path-following framework to enable autonomous ope,rations in waves and surf.4. Experimentally benchmark the performance of the amphibious vehicle in collaboration with the University, of Michigan and Texas A&M University.Efforts will initially focus upon measurement of resistance and maneuvering derivatives for th,e hullform of the amphibious UUV, for which we propose to build and commission a multi-DOF motion platform in the IIHR towing tank.,Data from this novel measurement system will enable a dynamical model to be developed for the free running model. In testing the fre,e-running model we propose to provide a path-planning controller to be integrated with the vehicles low-level autopilot, enabling d,ynamic trajectory generation. Finally, we will support experimental testing of the autonomous free-running model in the IIHR wave ba,sin, which will be equipped with an artificial beach and instrumentation to support localization and telemetry for the robotic platf,orm while operating in waves. The results of this work will support the development of autonomous control for complex and novel vehi,cles and will demonstrate the efficacy of a novel amphibious submersible in calm water and waves.Approved for Public Release
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 01, 2022
- Source ID
- N000142212097
Entities
People
- Casey Harwood
Organizations
- Office of Naval Research
- United States Navy
- University of Iowa