Design and Development of an Open-frame AUV: ANAHITA

A general method is proposed for design and development of a low-speed AUV (Autonomous Underwater Vehicle) ANAHITA. Due to the complex geometry of this AUV, it is very difficult to identify its dynamic and hydrodynamic parameters theoretically. Therefore, the objective of this paper is to first discuss the design of AUV and then to find an efficient modeling approach, whose results can be used for accurate control model design. The presented approach uses cost efficient CFD (Computational Fluid Dynamics) softwares, predicting the two hydrodynamic key parameters: the Added Mass Matrix and the Damping Matrix. A complete model is built for ANAHITA for CFD analysis.