Abstract

Effects of sea floor and surface waves on the dynamics of an autonomous underwater vehicle (AUV) are examined. A three-dimensional boundary integral method is developed for analyzing the hydrodynamic interaction between the underwater vehicle and sea floor, while a two-dimensional finite-difference method for the interaction between surface waves and the underwater vehicle. Results presented show that the suction force of the sea floor on the AUV is important when the body is within a height of one body length above the floor. Presence of surface waves on the other hand could exert large forces on the vehicle, thus demonstrating the need for efficient control surfaces and controller algorithms to enhance the performance of AUVs in shallow waters.

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