Modeling of the DEF-ALFA Autonomous Underwater Vehicle (AUV)

Abstract

This article presents a modeling of the dynamics of the DEF-ALFA autonomous underwater vehicle designed within the search project PID UNDEFI 484/2019 of the National Defense University. This paper proposes a previous study of the general characteristics of AUVs regarding their dynamic behavior and proposes a working model to apply it in the DEF-ALFA. On the basis of the developed model, the parameters of the vehicle were obtained and a simulation was carried out, allowing the realization of future studies to evaluate the performance of the DEF-ALFA and propose improvements.