Low-speed Modeling and Simulation of Torpedo-shaped AUVs

Bjarni Helgason, Leifur Leifsson, Indridi Rikhardsson, Helgi Thorgilsson, Slawomir Koziel


Autonomous underwater vehicles (AUVs) have become important in many marine engineering applications, such as environmental monitoring, pipeline inspections, or oceanography. For these types of applications, most of the AUVs available in both academia and industry are shaped like a torpedo and travel at speeds of 3 knots or higher. There is an growing interest in AUVs that are capable of performing tasks at both low-speed as well as high speeds. Currently, many torpedo-shaped AUVs are not capable of controlled low-speed motion. This paper presents a simulation model for the low-speed motion of torpedo-shaped AUVs. The model is capable of simulating the surge, sway, heave, and yaw motions. The hydrodynamic forces acting on the AUV hull are modelled using strip theory, experimental data, and computational fluid dynamics. The simulation model was implemented using a commercially available software and validated using experimental data obtained from the Gavia AUV. The results show that the simulation model captures the AUV motion at low-speed and agrees well with the experimental data.


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Paper Citation

in Harvard Style

Helgason B., Leifsson L., Rikhardsson I., Thorgilsson H. and Koziel S. (2012). Low-speed Modeling and Simulation of Torpedo-shaped AUVs . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 333-338. DOI: 10.5220/0004047103330338

in Bibtex Style

author={Bjarni Helgason and Leifur Leifsson and Indridi Rikhardsson and Helgi Thorgilsson and Slawomir Koziel},
title={Low-speed Modeling and Simulation of Torpedo-shaped AUVs},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

in EndNote Style

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Low-speed Modeling and Simulation of Torpedo-shaped AUVs
SN - 978-989-8565-22-8
AU - Helgason B.
AU - Leifsson L.
AU - Rikhardsson I.
AU - Thorgilsson H.
AU - Koziel S.
PY - 2012
SP - 333
EP - 338
DO - 10.5220/0004047103330338