In order to ensure that submersible has good performance of control , the kinematic model of underwater vehicle must be fairly accurate. At the same time, the accuracy of the kinematic model also is affected by hydrodynamic coefficients. Taking the underwater vehicle model as research object, the formula of the acceleration coefficient was deduced and hydrodynamic coefficients were calculated with the combination of theoretical and experiential formulas. Besides,the depth transfer function and heading transfer function were obtained. At last, we simulated the system and calibrated with PID
The influence of parameters of biomimetic underwater vehicle control system on the ability of the vehicle to avoid obstacles
