Design, modelling, and dynamic simulation of unmanned underwater vehicle

Throughout the ages of the world history, mankind has built civilizations around the water sources such as rivers, lakes, seas, and oceans due to the need of access to lifesources in these water sources. The food sources, natural resources, and biodiversity of the water bodies requires underwater research, as well as military purposes because of ensuring the security of the nations. A small portion of water mass around the earth can be explored by traditional manned water vehicles however in order to obtain full knowledge about water bodies, unmanned underwater vehicle are compulsory to be researched. In this study, design, modelling, and dynamics simulation of a noval unmanned underwater vehicle is presented. First, status of the unmanned underwater vehicle technology in the literature is shared. Then the geometrical design of the vehicle and structural details are explained. The concept of reference frames, Euler angles and transformation matrices is defined. The kinematic and dynamic models of the vehicle is derived. Using the models, dynamic simulations of the vehicle are carried out. The results of the simulations are discussed and related future work is shared.