Simulation of an AUV (Autonomous Underwater Vehicle) underwater recovery

The three-dimensional motion model of an autonomous underwater vehicle (AUV) was built up, and the model for calculating disturbed force caused by the submarine motion was established through potential liquid theory. Then a numerical example simulating the maneuverability of the AUV underwater recovery was given. The simulation results show preliminarily that the disturbed liquid field of the submarine motion has obvious effect to the depth and the transverse displacement of the AUV, and has little effect to the pose degree of the AUV. Therefore, the AUV can complete the underwater recovery.