Preliminary results of a dynamic modelling approach for underwater multi-hull vehicles

Description

A dynamic modelling approach is presented to compute the lumped parameter hydrodynamic coefficients of an underwater vehicle conceived as a multi-body underwater system. The vehicle-base is composed by heterogeneous robots and bodies (both actuated or not actuated), rigidly connected giving rise to a multi-body system called "cluster" in the paper. In order to model the nonlinear dynamics of the cluster, a modular approach has been proposed based on a proper composition of the dynamic models of the individual elements.

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