Computer simulation and control of underwater vehicles

The digital simulation of underwater inspection vehicles is described. The dynamics and kinematics of the underwater vehicles were studied in terms of the differential equations which can present the three dimensional motion of the vehicle (rotational and translational motion). In order to bring the motion of the vehicle under the control of the operator in a supervisory fashion, several control algorithms were described. The digital dynamic models of two underwater vehicles ALVIN and RCV150 were used to simulate the control algorithms in performing some complicated tasks such as bottom following. The results are shown in terms of computer graphic pictures.