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Modeling of an autonomous underwater robot with rotating thrusters

Author(s): Jebelli A, Yagoub MCE, Dhillon BS


Mathematical modeling, simulation and control of an underwater robot are a very complex task due to its nonlinear dynamic structure. In this paper, the authors present kinematic and dynamic modeling of an underwater robot with two rotating thrusters. Through a virtual environment implemented in MATLAB and LabVIEW, the performance of the proposed robot under real operating conditions was demonstrated.

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