Modelling and simulation of underwater vehicles

The paper describes an integrated computer simulation package for underwater automation. Underwater vehicles are the main tools in exploring and exploiting subsea resources. As a result of the high cost of off shore tests, computer simulation has gained absolute priority in the process of designing control architectures for unmanned underwater vehicles, and efficient and reliable simulations programs are needed. The main focus of the paper is to the description of a general model for underwater vehicles dynamics, and its implementation as a modular structure in the context of an integrated environment for the development and testing of guidance and control system for underwater autonomous vehicles