An Analysis of Simplifying Model Assumptions for Autonomous Underwater Vehicles

The equations of motion for an autonomous underwater vehicle can be written compactly by invoking several simplifying assumptions, such as top-bottom symmetry. For a typical streamlined tail-controlled autonomous underwater vehicle, the simplifying assumptions are well-motivated. For vehicles that possess a less conventional shape, the same simplifying assumptions may not be appropriate. For the specific case of the Trawl-Resistant Self-Mooring AUV, which has an unconventional shape, we experimentally assess the efficacy of invoking typical assumptions to simplify the equations of motion. Using data acquired during field trials, we show that the simplified equations of motion adequately represent the motion of the Trawl-Resistant Self-Mooring AUV when performing decoupled motions.