Publication year: 2011 Source: Energy Procedia, Volume 11, 2011, Pages 314-318 Jianhua Wang, Changfeng Chen, Pingping Huang, Wei Gu, Jianxin Chu This paper presents a nonlinear model of a catamaran-style Autonomous Surface Vehicle (ASV) thrust with twin fixed propellers, which are driven by DC electric motors. A total model including resistance of boat body, propulsion force and driving characteristics of motor is established. Response for a full range of the ASV motion is simulated according to the model, based on which the performance of the ASV is discussed.
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Modeling, Simulating and Experiment of an Autonomous Surface Vehicle