Design and optimization of the thruster configuration of a transformable underwater vehicle

To explore the complex underwater world, autonomous underwater vehicles (AUVs) are extensively used, whose recovery has been a challenging issue. To achieve high-efficiency AUV recovery, we propose a novel transformable underwater vehicle (TUV) which can maintain a closed state for low-resistance approaching and transform into an opening state for recovery to increase the possibility of success. The configuration of the thrusters is evaluated and optimized. The design and simulation results will be shown in this paper.

I. Introduction

AUVs have been widely used for sampling and monitoring of the ocean environment. The lack of high bandwidth communication and limited power supply are two main constraining factors which prevent the AUVs from long-term deployment. To overcome these limitations, AUVs are periodically recovered to the deck for recharging and data uploading. To improve the efficiency of AUV recovery, underwater docking stations are proposed which enable AUV recharging and fast data transmission without the intervention of human being [1]–[4]. Compared with the static docking station, a movable docking station can improve the success rate of recovery by compensating the limited movement capability of the underactuated AUVs. The movement of the existing docking station is difficult as the docking stations are usually designed to be large to lower the requirement of localization and control ability of the AUVs. To balance the movement efficiency and successful recovery rate, a vehicle which can maintain low resistance shape during the deployment stage and reshape to form a large opening for recovery is highly desirable.