Non-Linear Modeling and Simulation with 3-D Animation for 6-DOF Autonomous Underwater Vehicle

Abstract

this paper focuses on deriving the equations of motion of generic mathematical model in six degrees of freedom for autonomous underwater vehicles. For precise modeling, we used the hydrodynamic coefficients and derivatives of NPS AUV-II benchmark. The derived nonlinear model is simulated using LabVIEW software package. This makes the simulation process more realistic and easy for implementation with compatible embedded system boards. Moreover, it provides more accurate results which; verifies the model through an animated graphical user interface. This interface facilitates the simulation testing and evaluation process. The open loop simulation was acceptable, responsive and paved the way for using different control techniques for the autonomous underwater vehicle.