Heins, P.H., Jones, B. orcid.org/0000-0002-7465-1389 and Taunton, D.J. (2017) Design and validation of an unmanned surface vehicle simulation mode. Applied Mathematical Modelling. ISSN 0307-904X
Abstract
In this paper we present a multiphysics simulation model of Halcyon, an autonomous unmanned surface vehicle (USV). The simulation model presented in this paper has been developed to rapidly progress the design, development and validation of Halcyon's autonomy management system, particularly in challenging sea conditions. Using simulation for this purpose enables extensive testing across the full environmental operating envelope of the vessel, hence greatly reducing the need for real-world sea-trials. The simulator is comprised of a novel and comprehensive sea-surface wave environment model, a six degree of freedom nonlinear unified seakeeping and manoeuvring boat dynamics model, an actuation dynamics model, an autopilot and an interface with an autonomy management system. Results are presented that show good agreement between real-world and simulated sea-trials data.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 Elsevier. This is an author produced version of a paper subsequently published in Applied Mathematical Modelling . Uploaded in accordance with the publisher's self-archiving policy. Article available under the terms of the CC-BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/) |
Keywords: | multiphysics, ship modelling; wave modelling; simulation; model validation |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number INNOVATE UK (TSB) 50777-378197 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 17 Feb 2017 12:54 |
Last Modified: | 22 Feb 2018 01:38 |
Published Version: | https://doi.org/10.1016/j.apm.2017.02.028 |
Status: | Published |
Publisher: | Elsevier |
Refereed: | Yes |
Identification Number: | 10.1016/j.apm.2017.02.028 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:112449 |