Development of a hydrocopter

The helicopter is a very versatile vehicle. This paper describes the development of a small autonomous underwater vehicle known as the hydrocopter which tries to mimic the motion of a helicopter. It can move at high speed in any direction through the water. A model of the hydrocopter was designed and constructed. It used two variable speed propellers to control surge and yaw motions. Fins at the rear were used to control pitch and heave motions. A Simulink model was developed to study motion control strategies. Model tests in the MUN deep tank and Simulink responses show that the concept has merit.