Effect of Ocean Current to Low Velocity Maneuvers of Torpedo-Like Long-Distance AUV

The ocean current is a disturb force when the autonomous underwater vehicle (AUV) navigating in the sea, it can induce the position change of the dynamic positioning AUV, so it can effect the low velocity maneuvers of the torpedo-shaped long-distance AUV. The appropriate motion math model for the torpedo- shaped long-distance AUV was built and the model for AUV´s ocean current disturb force was built. Than the effect of the ocean current to the maneuverability of the AUV which motioning in low velocity was simulated. The results of the simulation show that the effect of the ocean current to low velocity maneuvers of the AUV is obvious and the effect is different when the AUV motioning at the different depth or when the ocean current direction is different.