Manoeuvre test simulation of a teleoperated robot designed for flow measurement in natural water bodies

Abstract

This article describes the simulation results of manoeuvring operations used in ships, but applied to an SA-1 teleoperated aquatic robot. The SA-1 is a type of robot designed for flow measurement in natural water bodies (rivers, lakes). A robot’s dynamic stability and course stability must be guaranteed due to the different tasks assigned to it. These features can be demonstrated through the pull-out manoeuvre, the Dieudonné spiral manoeuvre, modified Kempf manoeuvre and turning circle manoeuvre. System behaviour when using such manoeuvres can be used to propose a better control system for improving robot performance or modify system design.

Keywords

• Teleoperated-aquatic-robot
• simulation
• mathematical-model
• ship-manoeuvre
• PWM-function