摘要：AbstractA dynamic modelling approach is presented to compute the lumped parameter hydrodynamic coefficients of an underwater vehicle conceived as a multi-body underwater system. The vehicle-base is composed by heterogeneous robots and bodies (both actuated or not actuated), rigidly connected giving rise to a multi-body system called “cluster” in the paper. In order to model the nonlinear dynamics of the cluster, a modular approach has been proposed based on a proper composition of the dynamic models of the individual elements.
