Research on simulation modeling for small Autonomous Underwater Vehicle

This paper presents a six degree of freedom simulation model for the small AUV (WL-III) developed at Harbin Engineering University, China. The simulation model is based on the REMUS model presented by Timothy Prestero at OCEANS 2001 MTS/IEEE Conference and Exhibition. By modifying the calculation methods for forces and moments of rudder and propeller of Prestero's REMUS model, we obtained a modified REMUS model for our WL-III AUV. A series of in water experiments including turning circle maneuver experiment in horizontal plane, and diving experiment in vertical plane using WL-III AUV were conducted to verify the proposed method. Comparison between the in water experiments data and simulation data as well as another simulation model (MAUV-III model) presented by Bo Wang in 2009 shows that the proposed modified REMUS model matches the experiments data well, has a better accuracy than Wang's MAUV-III model.