Motion minimization of AUVs for improved imaging sensor performance beneath a seaway

Abstract

This paper summarizes the evaluation of methods for minimizing adverse autonomous underwater vehicle (AUY) motions which degrade imaging sensor performance in the highly energetic, littoral environment. The effort required the development and validation of an advanced wave force model capable of predicting wave forces and vehicle motions in the time-domain, in very shallow water, and near the surface. A range of operational, geometric, and active control motion minimization concepts were proposed, and a subset was quantitatively evaluated in this study: 1) AUV heading relative to the seas, and 2) the use of bowplanes. Results of the study show that the use of bowplanes on the proposed AUV can eliminate the majority of the adverse pitch and heave motions.