Modeling, Simulating and Experiment of an Autonomous Surface Vehicle.

Abstract: This paper presents a nonlinear model of a catamaran-style Autonomous Surface Vehicle (ASV) thrust with twin fixed propellers, which are driven by DC electric motors. A total model including resistance of boat body, propulsion force and driving characteristics of motor is established. Response for a full range of the ASV motion is simulated according to the model, based on which the performance of the ASV is discussed. Experiment results from sea test are in accord with the ones from simulating, which validate the nonlinear model. Compared with the classical linearized models, the advantage of the nonlinear model lies in convenience for dealing with system response for the full range of ASV motion. [Copyright &y& Elsevier]