Design of a Compact, Agile AUV with Large Thrust-to-Weight Ratio

Zusammenfassung (Abstract) :

This work aims to explore very small AUVs with a large thrust-to-weight ratio and under-actuated control mechanisms. The aspects of design, control, autonomy, navigation and usability was studied. Typical AUV systems have a relatively small thrust-to-weight ratio and consequently relatively low maximum speeds and accelerations. Typical values are 0,078 (100N/1275N) for the DeepLeng AUV , 0,054 (16N/294N) for the Remus AUV and 0,044 (120N/2698N) for the FlatFish AUV. For this project the design of a AUV called ”Arrow” is proposed with a much larger thrust and significantly reduced weight, resulting in a thrust-to-weight ratio larger than 1. This significant increase in relative thrust should enable the vehicle to perform maneuvers impossible for other AUVs, which in turn could lead to a number of new applications.

Files:

auv2024_hildebrandt.pdf