Modelling and Dynamic Analysis of a Novel Hybrid Aerial – Underwater Robot - Acutus

Abstract

Hybrid multi domain vehicles are of great interest in due to their ability to traverse between different medium. The objective behind developing such hybrid vehicle/robot is to combine the capabilities of systems operating in various domains. Very few vehicles are presently being developed which can traverse underwater and can fly in air. Development of systems with capability to traverse both in air and water is highly challenging because of the contrasting properties of the traversing domains. In this paper, we propose one such vehicle which can be used as a remotely operated vehicle (ROV) underwater and can fly as a quadrotor. Design of such system is critical, as the dimensions and other related parameters like the mass and volume has to be optimal for both aerial and underwater traversal. Hence the system mathematically modelled to analyze the dynamics of the system and the same has been used to optimize the dimensions and the overall performance of the result. This paper presents the detailed design, mathematical model of the system and the preliminary simulation results using the developed model. An experimental prototype is being developed to analyze and validate the concept.