Dynamic modeling of an autonomous underwater vehicle

Chuanfeng Wang, Fumin Zhang, Dirk Schaefer

Research output: Contribution to journalArticlepeer-review

36 Citations (SciVal)


The EcoMapper is an autonomous underwater vehicle that has broad applications, such as water quality
monitoring and bathymetric survey. To simulate its dynamics and to precisely control it, a dynamic model is needed. In this paper, we develop a mathematical model of the EcoMapper based on computational-fluid-dynamics calculations, strip theory, and open-water tests. We validate the proposed model with the results of the field experiments carried out in the west pond in the Georgia Tech Savannah Campus.
Original languageEnglish
Pages (from-to)199-212
Number of pages14
JournalJournal of Marine Science and Technology
Issue number2
Early online date21 May 2014
Publication statusPublished - Jun 2015


  • Autonomous underwater vehicle
  • Dynamic modeling


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