Dynamic Analysis and Design of Spheroidal Underwater Robots for Precision Multidirectional Maneuvering


In this paper, we have a tendency to present an optimized body form and thruster layout design for a category of jet-propelled underwater robots. Spheroidal robots with no rudders and appendages are highly maneuverable and capable of accessing complex underwater structures for inspection and surveillance. These robots are hydrodynamically unstable, but will create rapid turns and move in multiple directions. This paper describes a control-theoretical design methodology, examining the controllability of surge, sway, and yaw motion in relation to an facet ratio of the body shape and also the direction and location of every propulsion jet. A design with angled jets combined with a body aspect ratio of one.2-one.8 is controllable and exhibits good performance. A prototype robot with an optimized body form and jet arrangement has been engineered and tested. Experimental results illustrate the superb multiaxis maneuverability of this design.

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