The scale model of a surface marine vehicle with electric propulsion by a dc motor and waterjet is built. A mathematical model capable to adequately describe the motion of the vehicle under a variety of conditions is developed by fusing basic principles with data series obtained through a series of field experiments. The aim is to minimize the number and cost of sensors needed in this end, without unacceptably compromising accuracy, by employing knowledge of vehicle dynamics in order to form a customized gray-box modeling approach. A set of nonlinear differential equations, used to depict the behavior of the marine vehicle at hand are derived. This dynamic model will form the basis for applying physicomimetic approaches to control and navigation of a standalone or swarm of similar vehicles. In the physicomimetic controller synthesis approach, the control problem is tackled by the concept of virtual forces acting on the vehicle and in result generating motion patterns that are desired in a certain application, e.g. avoid obstacles and collisions. To achieve physicomimetic control one needs to effectively cancel the actual dynamics or physics to which a vehicle’s motion complies with and then impose the desired dynamics through virtual forces. In the present work, as first step, a series of open loop experiments allow us developing the actual dynamics of vehicle motion.

This content is only available via PDF.
You do not currently have access to this content.