Optimization of configuration of autonomous underwater vehicle for inspection of underwater cables

Deals with the configuration of autonomous underwater vehicle (AUV) for inspection of underwater cables considering low hydrodynamic drag, sensor alignment, collision avoidance manoeuvre, turning manoeuvre and rolling motion. The AUV consists of a fuselage of body of revolution with low hydrodynamic drag, fore and aft horizontal wings, upper and lower vertical tails and a pair of horizontal thrusters at both sides of the aft horizontal wings. The shape of the forward horizontal wing and that of the rear horizontal wing can be determined by use of a nonlinear optimization method under the constraints of magnetic sensor alignment for cable tracking, dynamic stability in the vertical plane and the performance of the collision avoidance manoeuvre. The performance of the turning manoeuvre and rolling motion are attributed to thrust force difference between a pair of thrusters at both sides of the rear horizontal wing, because the shapes of the upper and lower vertical tails can be designed from the viewpoint of the dynamic stability in horizontal plane