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

Tomasz Talarczyk; Marcin Morawski; Marcin Malec; Michał Garncarz

doi:10.37705/TechTrans/e2025031

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

Technical Transactions

Volume 122 (2025): Issue 1 (January 2025)

By: Tomasz Talarczyk , Marcin Morawski , Marcin Malec and Michał Garncarz

Open Access

|Dec 2025

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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Articles in this issue

DOI: https://doi.org/10.37705/TechTrans/e2025031 | Journal eISSN: 2353-737X | Journal ISSN: 0011-4561

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Language: English

Submitted on: Nov 5, 2025

Accepted on: Dec 17, 2025

Published on: Dec 26, 2025

Published by: Cracow University of Technology

In partnership with: Paradigm Publishing Services

Publication frequency: 1 issue per year

Keywords:

HUUV model parameters identification,

underwater vehicle motion analysis

Related subjects:

Architecture and design,

Architecture,

Architects, buildings,

Engineering,

Mechanical engineering,

Mechanics,

Industrial chemistry,

Chemical engineering,

Materials sciences,

Materials sciences, other

© 2025 Tomasz Talarczyk, Marcin Morawski, Marcin Malec, Michał Garncarz, published by Cracow University of Technology
This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 License.

Volume 122 (2025): Issue 1 (January 2025)