Simulation of long-distance AUV in low speed maneuvers

The long-distance autonomous underwater vehicle (AUV) will maneuver at very low speed. The appropriate equations governing low speed and high angle of attack motion for the AUV were built. Than the simulations were carried out for pointing circumrotation motion, horizontal and vertical motions. The simulation results show that the AUV can steadily navigate at low speed, and the horizontal maneuverability of the AUV which has a shape like the torpedo is the same as the vertical maneuverability. The simulation results are close to the results of the lacustrine experiment, so the simulation results are believable.