Modeling and simulation for the FAU AUVs: Ocean Explorer

This paper describes the research progress made on modeling and simulation development for the Florida Atlantic University autonomous underwater vehicles (AUV). Recent addition of simulation components include kinematic effect of longitudinal waves, inertial and position sensor dynamics so that realistic scenarios can be better accommodated. In addition, the existing FAU communication protocol used for the onboard acoustic modem has been ported to the simulation platform, thereby enabling multiple vehicle operations and communication to be simulated. At this stage acoustic propagation for the model is assumed to be ideal although a more realistic model for shallow water propagation will be developed in the near future. This research endeavor is supported by a 5-year ONR MURI project and is jointly carried out by FAU and Naval Postgraduate School