Design and validation of an unmanned surface vehicle simulation model
Design and validation of an unmanned surface vehicle simulation model
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, par-ticularly 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.
multiphysics, ship modelling, wave modelling, simulation, model validation
749–774
Heins, Peter H.
e54e4d3e-9a01-494d-b317-a1d3036eeef2
Jones, Bryn Ll.
577bdb6b-0925-45a6-8948-88bb1c761b4d
Taunton, Dominic
10bfbe83-c4c2-49c6-94c0-2de8098c648c
August 2017
Heins, Peter H.
e54e4d3e-9a01-494d-b317-a1d3036eeef2
Jones, Bryn Ll.
577bdb6b-0925-45a6-8948-88bb1c761b4d
Taunton, Dominic
10bfbe83-c4c2-49c6-94c0-2de8098c648c
Heins, Peter H., Jones, Bryn Ll. and Taunton, Dominic
(2017)
Design and validation of an unmanned surface vehicle simulation model.
Applied Mathematical Modelling, 48, .
(doi:10.1016/j.apm.2017.02.028).
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, par-ticularly 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.
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Accepted/In Press date: 14 February 2017
e-pub ahead of print date: 22 February 2017
Published date: August 2017
Keywords:
multiphysics, ship modelling, wave modelling, simulation, model validation
Organisations:
Fluid Structure Interactions Group, Faculty of Engineering and the Environment
Identifiers
Local EPrints ID: 406435
URI: http://eprints.soton.ac.uk/id/eprint/406435
ISSN: 0307-904X
PURE UUID: d08d58c9-3875-4ea8-bda5-07764ede7347
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Date deposited: 10 Mar 2017 10:47
Last modified: 16 Mar 2024 05:02
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Author:
Peter H. Heins
Author:
Bryn Ll. Jones
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