This paper presents a new hybrid method, which integrates the structured laser light, decoupled dynamic models, and evolutionary optimization strategy, to identify dynamic parameters of autonomous underwater vehicles. This is the first research that investigates the utilization of laser scanned images for the system identification of underwater vehicles.
The AUV’s equations of motions and the dynamic parameter identification using the AUV’s decoupled motions will be illustrated. The working principles to calculate the AUV’s positons using the structured laser light will be explained with respect to the surge and pitch motions. The evolutionary optimization strategy used to generate the AUV’s dynamic parameters will be presented.
