posted on 2023-05-26, 09:09authored byIssac, M, Adams, S, He, M, Bose, N, Williams, C, Bachmayer, R, Crees, T
Manoeuvring trials are usually performed to determine the manoeuvring characteristics of a marine vehicle. It is through certain standard manoeuvres we evaluate the robustness, performance and limitations of the vehicle control system. A series of open-water manoeuvring trials were performed using the MUN Explorer AUV in the summer of 2006. The actual purpose of these experiments was to collect a set of experimental data in order to validate a hydrodynamic model of the dynamic performance of the vehicle. This paper presents the results and observations from the analysis of a set of manoeuvring trials data: in particular the results from straightline (acceleration - deceleration) tests and turning circles. It outlines briefly the method by which these tests were conducted and discusses the results and observations made. Apart from providing a data set for validation purposes, the results also indicate the ability of the vehicle to follow a pre-planned mission with precision.