Simulation and Analysis of the Complex Movement of an Autonomous Unmanned Underwater Vehicle

Abstract

Ensuring autonomy, maneuverability and organization of movement control along complex trajectories of a maneuverable multi-purpose autonomous unmanned underwater vehicle (AUUV) is a complex scientific research and engineering task, for the solution of which it is necessary to know the behavior of the vehicle in the environment and the influence of the environment on the dynamics of the vehicle. Plots of the distribution of speed, pressure and kinetic energy of turbulence during the complex movement of the AUUV were obtained, in accordance with the chosen trajectories. Simulation and numerical modeling of AUUV under complex motion was carried out. The obtained results were compared with the results of rectilinear movement. showed that the construction of the ABPA model is acceptable both for straight-line movement and for movement along complex trajectories. A comparative analysis of the obtained values of speed, pressure and kinetic energy of turbulence shows the ability of the developed model of the device to perform quick maneuvers in limited areas (turning around, avoiding obstacles, etc.). The selected and designed ABPA model is suitable for further research in order to develop an automatic control system for a maneuverable multi-purpose AUUV.