Motion simulations of AUV “YUMEIRUKA” with X-rudder

摘要

The Japan Agency for Marine–Earth Science and Technology (JAMSTEC) has been developing “YUMEIRUKA”, an autonomous underwater vehicle (AUV) with a fore X-rudder and an aft X-rudder. The vehicle can change its submersion depth by controlling the pitch angle using the two-sets X-rudder system.As described herein, motion simulation results are compared with field experimental results to ascertain values of hydrodynamic coefficients of the vehicle. Several motion control-simulations are conducted to assess the vehicle performance.