A theoretical approach to facilitating transition phase motion in a positively buoyant autonomous underwater vehicle

Abstract

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

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