Modeling and Pose Stabilization of a Novel AUV with Vectored Tunnel Thrusters

In this paper, we present a torpedo-shaped novel autonomous underwater vehicle (AUV) with vectored tunnel thrusters. Traditional torpedo-shaped AUVs are incapable of hovering and lateral motion. We mitigate these deficiencies in the proposed design leading to greater maneuverability in con-strained environments. We put forth the mathematical model of the vehicle and develop an appropriate control allocation. A simple PD controller is then implemented for pose stabilization which shows satisfactory performance in simulations.