Robotnic underwater vehicle steered by a gyroscope - Model of navigation and dynamics

Abstract

This paper presents mathematical model of navigation for a underwater vehicle equipped with a gyroscope being an executive element of the system scanning the seabed's surface and following the detected target. In such kinds of underwater vehicles, tracking objects detected by them, the main element is a selfguiding head, which is operated by a steered gyroscope. The dynamics and the method of steering such a vehicle [3] has been here supplemented with dynamics of the gyroscope during the process of scanning and following the detected object were subject to analysis. © Springer International Publishing Switzerland 2014.