Positively buoyant autonomous underwater vehicles (AUVs) operate at survey speeds with a pitch angle that is<br/>maintained through application of the control surfaces, sufficient to generate hydrodynamic forces to counteract the<br/>excess buoyancy. To facilitate lower forward speeds and the ability to hover requires some additional method of<br/>control. This paper reviews possible options and then indicates how control can be achieved using a single or pair of<br/>through-body tunnel thrusters. New equations appropriate to AUVs are proposed and experimental results are used to<br/>estimate the equation parameters. These equations are used within a simulation of the Autosub AUV to determine the<br/>response of the AUV during the transition between survey and low speed operation. The results obtained from the<br/>simulations are analysed in terms of the performance of the AUV and the demanded energy levels to assess the<br/>feasibility of using tunnel thrusters as a low speed control device
To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.