A Computational Framework for Simulation of Underwater Robotic Vehicle Systems
Abstract
This paper presents a computational framework for efficiently simulating the dynamics and hydrodynamics
of Underwater Robotic Vehicle (URV) systems. Through the use of object-oriented mechanisms, a very
general yet efficient version of the Articulated-Body (AB) algorithm has been implemented. An efficient solution
to branching within chains is developed in the paper so that the algorithm can be used to compute the dynamics for
the entire class of open-chain, tree-structured mechanisms. By including compliant contacts with the environment,
most closed-chain systems can also be modeled. URV systems with an extended set of topologies can be simulated
including proposed underwater walking machines with intra-body powered articulations. Using the encapsulation
inherent in C++, the hydrodynamics code has been confined to a single class, thereby explicitly defining this
framework and providing an environment for readily implementing desired hydrodynamics algorithms. Resulting
simulations are very efficient and can be used in a number of applications both in the development and use of URV
systems.
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