Dynamics modeling and performance evaluation of an autonomous underwater vehicle

This paper describes a dynamics model of an autonomous underwater vehicle (AUV). External forces acting on the vehicle, such as hull and control plane hydrodynamic forces, are determined for the full 360degrees angle of attack range. An accurate through-body thruster model is also incorporated into the simulation. The model is used to simulate two configurations of the C-SCOUT AUV. We use the simulation as a predictive design tool to evaluate and compare the performance of the two configurations before they have been fully developed. Two oceanographic sampling missions are devised to help determine the relative benefits of each configuration. (C) 2004 Elsevier Ltd. All rights reserved.