Model Identification of a Small Omnidirectional Aquatic Surface Vehicle: a Practical Implementation
Keir Groves,Marin Dimitrov,Harriet Peel,Ognjen Marjanovic,Barry Lennox,Keir Groves,Marin Dimitrov,Harriet Peel,Ognjen Marjanovic,Barry Lennox
This work presents a practical method of obtaining a dynamic system model for small omnidirectional aquatic vehicles. The models produced can be used to improve vehicle localisation, aid in the design or tuning of control systems and facilitate the development of simulated environments. The use of a dynamic model for onboard real-time velocity prediction is of particular importance for aquatic veh...
