Experimental Identification of Surge Motion Hydrodynamic Coefficients for an AUV Using Laser Line Scanning and Genetic Algorithm

Precise control is a key factor in equipping Unmanned Underwater Vehicles (UUV) with the ability to perform successful underwater operations. The development of UUV control rules is typically based on UUV dynamic models consisting of unknown hydrodynamic parameters to be identified. In this work, the Laser Line Scanning for Hydrodynamic Parameter Identification (LSHPI) was utilized to obtain the surge-related hydrodynamic parameters of a prototype AUV developed by the Institute of Undersea Technology (IUT) at National Sun Yat-sen University. The details of using the LSHPI to obtain surge-related hydrodynamic parameters and the experimental results are presented in this paper.