Modelling and simulation of an autonomous underwater vehicle

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dc.contributor.advisorPeddle, I. K.en_ZA
dc.contributor.authorBusch, Regardten_ZA
dc.contributor.otherUniversity of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering.
dc.date.accessioned2009-02-25T14:13:57Zen_ZA
dc.date.accessioned2010-06-01T08:48:35Z
dc.date.available2009-02-25T14:13:57Zen_ZA
dc.date.available2010-06-01T08:48:35Z
dc.date.issued2009-03en_ZA
dc.descriptionThesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.
dc.description.abstractIn this thesis the mathematical modelling and simulation of an autonomous underwater vehicle is presented. A generic six degree of freedom model suitable for AUV control applications is presented. This model is then tailored to the AUV testbed developed by IMT. The model parameters are determined from vehicle geometry alone. In addition to this, a linear model is presented and analysed in order to determine the modes of motion for AUV. The development of a generic visualisation system suitable for underwater vehicle simulations is also presented. A generic MATLAB based AUV simulation system is developed, and used to supply the visualisation system with the necessary simulation data. Lastly, two example simulations are shownen_ZA
dc.identifier.urihttp://hdl.handle.net/10019.1/2429
dc.language.isoenen_ZA
dc.publisherStellenbosch : University of Stellenbosch
dc.rights.holderUniversity of Stellenbosch
dc.subjectAutonomous underwater vehicle5en_ZA
dc.subjectDissertations -- Electrical and electronic engineeringen
dc.subjectTheses -- Electrical and electronic engineeringen
dc.subjectRemote submersiblesen
dc.subject.lcshRemote submersiblesen_ZA
dc.titleModelling and simulation of an autonomous underwater vehicleen_ZA
dc.typeThesisen_ZA
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