AUV Propulsion Systems Modeling Analysis

Abstract

This paper presents a simulation-based evaluation of different modeling levels for Autonomous Underwater Vehicle (AUV) propulsion systems. A model of an existing AUV (RSM robot) is proposed and detailed. Likewise, models of the RSM propulsion system and thruster behavior are presented. Simulations of the closed-loop controlled AUV performing a predefined task are carried-out using the proposed propulsion systems models. The simulated task allows evaluating the influence of the propulsive system modeling over the maneuverability of the AUV. Subsequently, numerical results are discussed and applicability is evaluated.