Design of an Autonomous Underwater Vehicle For Free-Running Model Tests

Abstract

This paper presents development of an autonomous underwater vehicle (AUV), and experimental results for a control approach for free-running model tests that estimates maneuverability were obtained. An AUV was designed with a torpedo shape and an under-actuated system with two horizontal fins, two vertical fins, and the main thruster in the stern. Considering that each fin and thruster can be separately controlled, a motion controller that can implement free-running model scenarios was designed. To validate the feasibility of the proposed approach with the developed AUV, preliminary field tests were performed, and the results are briefly described.