Variable speed hydrodynamic model of an AUV utilizing cross-tunnel thrusters

This paper presents a three degree of freedom (3DOF), variable speed REMUS 100 Autonomous Underwater Vehicle (AUV) model with forward and aft, horizontal and vertical cross-tunnel thrusters. The combination of modeling variable speed and cross-tunnel thrusters permits analysis of AUV docking maneuvers under various vehicle and oceanographic conditions. Hydrodynamic equations of motion are developed for depth/altitude control with an emphasis on reproducing accurate REMUS 100 motion over various velocities with and without the cross-tunnel thrusters. The model is validated with comparisons to missions conducted in Monterey Bay, CA.