CFD-based hydrodynamic performance investigation of autonomous underwater vehicles: A survey

Abstract

Hydrodynamic performance investigation of autonomous underwater vehicles (AUVs) plays a crucial role in their shape design, dynamic modeling, and motion control. Over the past few decades, computational fluid dynamics (CFD) has emerged as a widely used tool for investigating the hydrodynamic performance of AUVs, as it can provide rapid simulation of captive model tests with high accuracy and reliability. To further promote the utilization of CFD methods in AUV shape design, dynamic modeling, and motion control, this paper provides a comprehensive survey of CFD-based hydrodynamic performance investigation of AUVs. Firstly, a comprehensive review of existing AUV prototypes was conducted and the key aspects of the hydrodynamic performance of these AUVs were summarized. Secondly, the key steps and advanced methods involved in CFD simulations for investigating the hydrodynamic performance of AUVs were reviewed and systemically analyzed. Thirdly, the practical applications of CFD-based hydrodynamic performance investigation of AUVs were summarized from the perspectives of shape design, dynamic modeling, and motion control. Furthermore, to verify the effectiveness of the CFD methods in hydrodynamic performance investigation of AUVs, a case study was conducted on the DARPA SUBOFF benchmark model. Based on a comprehensive literature review and the case study, the advantages and limitations of CFD-based hydrodynamic performance investigation of AUVs were discussed, and several future directions in this field were provided.