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1 TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

1 2015

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An Integrated Model of Motion, Steering, Positioning and Stabilization of an Unmanned Autonomous Maritime Vehicle

Gerigk M. K., Wójtowicz S.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2015

Vol. 9, no. 4

591--596

In the paper the aim of an interdisciplinary research is presented. The research method is introduced. An object the unmanned autonomous maritime vehicle is briefly described. The key research problem concerns a combined model of the vehicle motion including the loads of lift and hydrodynamic nature. The model takes into account the gravity and displacement forces, resistance and thrust forces, lift and other hydrodynamic forces. One of the major research tasks is to precisely predict the position of the vehicle. To do that an integrated model of acquiring, analyzing and processing the signals is necessary. The processed signals may then be used for the precise steering of the vehicle. The vehicle should be equipped with a stabilization system. Some information on an integrated steering, positioning and stabilization system of the vehicle is briefly presented in the paper. Such the system enables to obtain a fully autonomous vehicle. Some information on the propulsion and underwater energy supply systems are presented in the paper, too.