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Unified Modelling of Wave-Propelled USVs Using Closed-Form Expressions

Abstract

This paper presents a physics-based unified modelling framework for wave-propelled uncrewed surface vehicles (USVs), combining manoeuvring, seakeeping, and wave-propulsion models into a cohesive architecture. The model is intended for a range of wave-propelled USVs, and is provided with closed-form expressions. A case study on a 5-meter AutoNaut vehicle demonstrates the model’s ability to reproduce realistic propulsion behaviour, and supports design of guidance and decision support systems for long-endurance ocean navigation.

Category

Academic article

Language

Other

Author(s)

  • Andreas Gudahl Tufte
  • Tor Arne Johansen
  • Morten Breivik
  • Andrew Ross

Affiliation

  • SINTEF Ocean / Skip og havkonstruksjoner
  • Norwegian University of Science and Technology

Year

2025

Published in

IFAC-PapersOnLine

Volume

16th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles

View this publication at Norwegian Research Information Repository