A Computational Investigation of the Influence of Seafloor Conditions on the Turbulent Flow Characteristics of an Autonomous Underwater Vehicle

The effect of the seabed on the hydrodynamics of three-dimensional autonomous underwater vehicles (AUVs) varies according to the physical conditions of the place where AUVs interact with the environmental conditions. This study examines the hydrodynamics of an AUV resembling a torpedo model while taking the influence of the seabed surface as a function of the dimensionless distances (G/D) between the torpedo and the seabed. Reynolds numbers, varying from 1 × 10⁴ to 8 × 10⁴, were considered. These Reynolds numbers were associated with various seabed distances falling within 0.25 ≤ G/D ≤ 1.5. To perform the simulations, governing equations were utilized and incorporated with the k–ω SST turbulence model. It has been observed that when AUVs or torpedo models operate in close proximity to the seabed surface, several key hydrodynamic parameters and flow characteristics are affected. These include the pressure coefficient (C_p), drag coefficient (C_D), overall flow structures, maneuverability, and performance of the torpedo model. As the AUV or torpedo model approaches the seabed surface, the symmetrical flow pattern deteriorates. This deterioration is associated with changes in vortical flow structures under the influence of seabed surfaces. Additionally, the intensity of the shear stress (τ) near the seabed surface gradually increases as the AUV or torpedo model gets closer to it. In summary, the proximity of AUVs or torpedo models to the seabed surface causes disruptions in the flow patterns, increased shear stress, and alterations in key hydrodynamic parameters, ultimately affecting the system's performance and behavior.