A Hybrid Dynamical Model for Robotic Underwater Vehicles when Submerged or Surfaced: Approach and Preliminary Evaluation
James E. Hunt,Louis L. Whitcomb,James E. Hunt,Louis L. Whitcomb
This paper reports a numerical method for modeling underwater vehicle (UV) interactions with the free surface using a finite-dimensional dynamical plant model. Although finite-dimensional plant models of fully submerged UV behavior are well-established, they are unable to model the ubiquitous condition of a UV operating at or near the free surface. We report a Monte Carlo-based hybrid model approa...
