Title: Design, modelling and simulation of an autonomous underwater vehicle

Authors: Thomas Braunl, Adrian Boeing, Louis Gonzalez, Andreas Koestler, Minh Nguyen

Addresses: EECE, CIIPS, Mobile Robot Lab, The University of Western Australia, Perth, Australia. ' EECE, CIIPS, Mobile Robot Lab, The University of Western Australia, Perth, Australia. ' EECE, CIIPS, Mobile Robot Lab, The University of Western Australia, Perth, Australia. ' EECE, CIIPS, Mobile Robot Lab, The University of Western Australia, Perth, Australia. ' EECE, CIIPS, Mobile Robot Lab, The University of Western Australia, Perth, Australia

Abstract: This paper describes the design and modelling of an Autonomous Underwater Vehicle (AUV), together with a simulation system for AUVs with arbitrary propulsion and sensor systems. The use of a simulation system allows to rapidly test AUV designs, e.g. different propulsion systems or different sensor configurations. Different AUV designs can be compared with their suitability for a given task before they even have been built. Therefore, the use of a simulation system can advance and speed up the design process of an AUV.

Keywords: AUV design; AUV modelling; AUV simulation; autonomous underwater vehicles; AUV propulsion; AUV sensors; vehicle autonomous systems.

DOI: 10.1504/IJVAS.2006.012202

International Journal of Vehicle Autonomous Systems, 2006 Vol.4 No.2/3/4, pp.106 - 121

Available online: 28 Jan 2007 *

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