Development of an autonomous underwater vehicle maneuvering simulator

AUVs (autonomous underwater vehicles), which are maneuvered according to designated operation scenarios using nontethered systems, feature wide-ranging observation capability due to the un-connection of power and/or signal cables. Maneuvering scenarios and control software should be carefully formulated and checked so as to avoid unexpected AUV motion. Accordingly, a maneuvering and control system simulator has been assembled using nearly the same control boards, LAN, scenarios and control programs as for an actual AUV system. Scenarios and failure procedures such as emergency surfacing and obstacle avoidance, as well as standard cruising modes including straight constant speed running, course keeping, turning, diving, position keeping, crabbing, short turning, stopping and passing designated points can be verified through repeated computer runs of this AUV simulator