Identification of Motion Model Parameters for a Small Hybrid-Propelled Unmanned Underwater Vehicle (HUUV)

Talarczyk, Tomasz; Morawski, Marcin; Malec, Marcin; Garncarz, Michał

doi:10.37705/TechTrans/2025031

Abstract

This paper presents the development of a motion model for a hybrid-propelled unmanned underwater vehicle (HUUV) and its verification through MATLAB® simulations and experimental tests conducted with a real vehicle in a swimming pool. The motion tracking method, utilizing a GoPro Hero 6 camera and Tracker® software, was employed to measure the vehicle’s forward velocities, sideslip angles, and circulation radii under various thrust settings. The experimental results were compared with those obtained from simulations using the same thruster configurations. The proposed model is intended to support the development of control algorithms for groups of HUUVs.

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Identification of Motion Model Parameters for a Small Hybrid-Propelled Unmanned Underwater Vehicle (HUUV)

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