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Design, modelling, and simulation of biomimetic underwater vehicle

• Pawel Piskur
• Bartosz Larzewski
• Rafal Kot
• Piotr Szymak

(2023). ECMS 2023, 37th Proceedings
Edited by: Enrico Vicario, Romeo Bandinelli, Virginia Fani, Michele Mastroianni, European Council for Modelling and Simulation.
DOI: http://doi.org/10.7148/2023
ISSN: 2522-2422 (ONLINE)
ISSN: 2522-2414 (PRINT)
ISSN: 2522-2430 (CD-ROM)
ISBN: 978-3-937436-80-7
ISBN: 978-3-937436-79-1 (CD) Communications of the ECMS Volume 37, Issue 1, June 2023, Florence, Italy June 20th – June 23rd, 2023

https://doi.org/10.7148/2023-0181

Pawel piskur, Bartosz larzewski, Rafal kot, Piotr szymak (2023). Design, Modelling, and Simulation of Biomimetic Underwater Vehicle, ECMS 2023, Proceedings Edited by: Enrico Vicario, Romeo Bandinelli, Virginia Fani, Michele Mastroianni, European Council for Modelling and Simulation. doi:10.7148/2023-0181

This paper discusses mathematical model implementations and simulation in various software environments
for Unmanned Underwater Vehicles (UUVs), especially biomimetic ones. Gaining accurate simulation models of UUVs is challenging due to many nonlinear phenomena that need to be analysed. Further, the sensors’ accuracy and disturbances made by the natural water environment are difficult to predict during the simulation. On the other hand, an accurate simulation model is needed during new algorithm tests provided for increased vehicle autonomy. As a result, mathematical models and their implementation into different software are analysed and discussed in this paper. The model based on nonlinear differential equations is compared
to an object-oriented, physical model based on Matlab Simscape Multibody.