On the Linear Hydrodynamic Forces and the Maneuverability of an Unmanned Untethered Submersible with Streamlined Body (2nd Report : Lateral Motions)

A series of captive model tests was carried out to unmanned untethered submersible AUV-HMl testbed, which has a body of a streamlined section, developed at National Taiwan University. Furthermore, for estimating its lateral stability derivatives the same method, which is based on the empirical formula proposed by Bottaccini and used in previous paper, is applied. As a result, both of the two sets of stability indices evaluated with estimated values of stability derivatives as well as those obtained by measurement, show that AUV-HMl testbed is unstable on lateral mode. This result agrees well with the tendency shown by the vehicle responses for step heading commands in the pool test performed with the AUV-HMl testbed.