The development on a streamlined underwater vehicle for autonomous manipulation

摘要

Underwater autonomous manipulation is a challenging task which not only includes a complicated multibody dynamic and hydro-dynamic process, but also involves the limited observation environment. This paper is proposed to investigate the current state of art about underwater autonomous technology. Although a lot of research aiming at autonomous under-water vehicle manipulator system (UVMS) of large-scale AUV have been carried out by scientists in Italy, Spain etc. However, there has been a long lack of studies on portable AUV. So this paper presented a newly designed streamlined portable AUV and the numerical simulation of horizontal plane motions, which can produce positive outcomes in the further control and accurate manipulation.