USVs are simulated under realistic wave-disturance based on linear surface wave equations. Mathematical models for incident wave forces on the dynamic wetted surface of the hull are derived and numerically solved simultaneously with the 6DoF dynamics of the vessel. Methods for prediction of wave parameters based on incident wave-force models and measured motion of the vessel are formulated and testing. The target is to use the wave prediction in underactuated control of USVs.
Current scope
- 6DoF vessel dynamics
- Wave-disturbance inputs
- Public release route for the simulation paper and supporting materials