Maneuvering simulation of multi-AUV self-propulsion in tandem

Abstract

Owing to the limitation to the phenomenon of model without propeller, and steady cruising for the hydrodynamic performance of AUVs in tandem, this paper presented unsteady maneuvering simulation of AUV self-propulsion in tandem using discretized propeller in a physics-based method. In the non-propeller towed AUV in tandem, an attraction force was produced from the leader AUV to the follower AUV. In comparison, the AUVs self-propulsion in tandem showed different results: 1) a repulsion force was produced from the leader AUV for the follower AUV, which increased the drag force, deceased the velocity, and increased the power consumption of the follower AUV. The spacing between the two AUVs increased. Furthermore, a temporal roll moment with oscillation in periods was also observed on the follower AUV. The method used in this paper helped to obtain the knowledge of flow interference between multi-AUVs to ensure the safety and predict accurately the energy during cooperation.