A Kinetic Simulator For Distributed Mechanically Linked Marine Vehicles

Abstract: The possibility of performing high-level simulations based on a kinetic model is an important step in the implementation of navigation, guidance, and control systems for marine robots. In the framework of the EUMR TNA project DINGOS, we strive to enhance a simulation tool under MATLAB/ Simulink for the CNR catamaran-like vehicle SWAMP (Shallow Water Autonomous Multipurpose Platform) ASV. The vehicle can be separated into two hull vessels that can operate independently, but also with different physical connection between them (like fixed pole or rubber band). In the paper, we will describe the physical modelling of the different connection types in a 3DOF system, the implementation into the existing simulation tool for the whole vehicle, and show the results achieved in simulation runs where different connection types can be chosen and parameterized.