Restart strategy and influencing factors of an autonomous underwater vehicle that can park on the seabed

Kinematic and dynamic mathematical models of spatial motion model of the AUV that can park on the seabed were established. Combined with the characteristics of this AUV, mathematic models of force and weight of variable buoyancy system, forces of vertical-thrusters, the distance between seabed and bow or stern of the AUV were established. Control algorithm of vertical-thrusters was designed. Based on this, restart simulation model was established. Two kinds of restart strategy of the AUV that can park on the seabed were proposed, which are taking off freely with positive buoyancy, taking off under the control of vertical thrusters. On this basis, the impact of position of water entered into the AUV on restart parameters was studied. Finally, the influences of vertical thrusters on restart strategy were analyzed through comparing different restart strategies. Results show that variable buoyancy system should be amounted at -0.6~0.6 m and vertical thrusters have a positive impact on restart strategy. Results in this paper will provide theoretical basis to restart program design and the improvement of this AUV.