Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2014.991.999YeoKiam Beng WongTeck Ho OngCheah Meng 1020141410This study presents a modelling and manoeuvrability design
of a six Degree of Dreedom (DoF) hovering type Autonomous Underwater Vehicle
(AUV) with emphasis on thrusters optimization and hydrodynamic effect. A six
DoF kinematic and dynamic motion model has been developed and simulated in three-dimensional
spaces for position tracking. The shape of the AUV and the location of thrusters
are optimised considering the ability to provide the degree of freedom and stability
of the system. The hydrodynamic effect of the AUV from the Computational Fluid
Dynamic simulation was verified at 591 kPa of hydrostatic pressure on the surface
for maximum depth up to 50 meters. Stalling phenomena was identified at 15°
of pitching angle which caused unstable manoeuvring of the AUV. The study had
also found that the hydrodynamic coefficients of lift and drag increases as
the pitching angle increases with no significant effect due to Reynolds number
changes (ReV = 9.53x104 to ReV = 2.86x105).]]>Antonelli, G.,2006Vol. 2,Blidberg, D.R.,20012001Chin, C.S., M.W.S. Lau, E. Low and G.G.L. Seet,20062006pp: 16Evans, J. and M. Nahon,20043118351858Fossen, T.I.,19941st Edn.,Pages: 494Pages: 494Garus, J.,200414461467Inzartsev, A.V.,2009Kumar, R.P., A. Dasgupta and C.S. Kumar,20053214311447Liu, Y.K.,19921992pp: 116127Marghany, M. and M. Hashim,20052005Von Alt, C.J.,20032003Valavanis, K. P., D. Gracanin, M. Matijasevic, R. Kolluru and G.A. Demetriou,1997174864Whitcomb, L.L. and D.R. Yoerger,199924481494Yuh, J.,19902014751483Yuh, J.,1994143946Yuh, J.,20008724