Overview

This book offers a comprehensive exploration of the dynamics modeling and maneuvering analysis of autonomous underwater vehicles (AUVs), integrating both theoretical concepts, numerical simulations, and practical applications.

Principles Covered

It covers the essential principles of underwater vehicle dynamics, including kinematics, kinetics, and the forces analysis. Detailed methodologies for deriving dynamic equations using nonlinear dynamic theory and modular design considerations, as well as estimating hydrodynamic coefficients through empirical, analytical, computational, and experimental and data driven approaches, are presented.

Modern Techniques

Special attention is given to modern techniques such as Computational Fluid Dynamics (CFD) and System Identification, etc., along with comparative analyses to guide engineers in choosing appropriate estimation methods.

Maneuvering Performance

The book also explores the maneuvering performance of AUVs, outlining standard tests and analyses based on ITTC protocols and offering validation techniques for established dynamic models.

Case Studies and Applications

Practical case studies, including the classical REMUS 100 AUV and novel flight-style AUV, illustrate the real-world applications of these theories and methods, making this work a valuable resource for researchers, engineers, and professionals involved in AUV design and development.

Target Audience

It is particularly useful for those working on streamlined AUV designs at the early design phase, providing critical insights even before models or prototypes are available.