The work discusses basic principles of traction efforts creating in the aquatic environment allowing not only to ensure the marching motion of the underwater vehicle but also to make small maneuvering turns and displacements. An example of such regimes in terrestrial conditions is the wave motions of separate body supporting elements experiencing reactions of non-holonomic constraints. These reactions can create both a racing marching effort and small maneuvering forces to provide the necessary turns and slews. An illustration of this principle of motion is the skateboarder's movement mechanics and skater's racing. A kinematic scheme of a kind of «automobile» can be constructed on the same principle of the non-holonomic racing. However, the most interesting is the use of non-holonomic maneuvering for underwater hydro-robots using a fin thruster for maneuvers and screw thruster for the marching motion.
Hydro-robot, non-holonomic racing, fin thruster, maneuvering.
Smolnikov, B. (2017). Biomechanical Principles of Hydro-Robot Maneuvering in the Aquatic Environment. Robotics and Technical Cybernetics, 2(15), pp.57-61
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