Akademik Veri Yönetim Sistemi
TOKYO SUMMIT-III, 3rd international conference on innovative studies of contemporary sciences, Tokyo, Japonya, 19 - 21 Şubat 2021, cilt.1, ss.696-705
Underwater vehicles are a new and open work area. They are used in civil and military activities for
various purposes such as protection and investigation of natural and environmental resources, various
construction activities, ensuring coastal and country security. Underwater vehicles can be of remote
type (ROV: Remotely Operated Vehicle) or autonomously operated (UUV: Unmanned Underwater
Vehicle) type. The development of robust control algorithms for position, speed and trajectory control
of UUVs depends on obtaining the vehicle's dynamic model as realistic as possible. Mathematical
modeling of an UUV's dynamic system is a difficult and complex process. The reasons for this are;
it is the non-linear dynamic structure of the vehicle's operation and the working environment of the
vehicle contains too many uncertainties and disruptive effects. In this study, the methods used in
determining the hydrodynamic and dynamic parameters determining the mathematical model of UUV
and ROV were investigated by making a comprehensive literature review. According to the results
obtained from the studies with different underwater vehicles, the most reliable method was decided.
Keywords : Dynamic Model, AUV, ROV, Hydrodynamic