Conceptual Design of an AUV Equipped with a Three Degrees of Freedom Vectored Thruster

  • Authors:

  • Emanuele Cavallo;Rinaldo C. Michelini;Vladimir F. Filaretov

  • Affiliations:

  • Mechanics and Machine Design Department, University of Genova, Via all'Opera Pia 15/A, 16145 Genova, Italy/ e-mail: cavallo@dimec.unige.it;Mechanics and Machine Design Department, University of Genova, Via all'Opera Pia 15/A, 16145 Genova, Italy;Far Eastern State Technical University, 10 Pushkinskaya Str., 690600, Vladivostok, Russia

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2004

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Abstract

The early stages of design and simulation of a new concept, autonomous underwater vehicle equipped with vectored thrusters is investigated. The opportunity to increase the research effort in innovative solutions for AUV propulsion and guidance systems is related to the state-of-the-art analysis. The dynamics of submersibles is briefly recalled, to justify the choice to equip the vehicle with a three degrees of freedom mechanism capable to orient both the propeller and the stabilising tail-fins. The vehicle presented has to be considered as a “concept submersible”, that needs further improvements and tuning to become a completely running test-bench for navigation system assessment. A tailored simulation package and results are also described, in order to perform a wide ranging numerical test campaign to foresee life cycle behaviour.