Maneuverability and handling of the penguin-shaped autonomous underwater vehicle (AUV) PreToS, analytical and experimental results

An AUV's hull shape is critical for endurance, flow characteristics, maneuverability and operation of the vehicle. This paper deals with the impact of a novel, innovative and hydrodynamic penguin-shaped hull on the mobility and the handling of an AUV. Comparisons with common hull forms will be drawn using calculated CFD data. Tests in the Baltic Sea and the Atlantic Ocean were performed with the AUV PreToS (Pressure Tolerant System) which was specifically designed to obtain low flow resistance and high maneuverability. Course tracking results gained during these tests, both on surface and at depth, will be presented. Furthermore, a new propulsion unit is introduced. A specific feature of this unit is a rudder which is located behind the vehicle's two counter-rotating main propellers, thereby providing higher lateral forces. At rough sea, difficulties in launching and recovering the AUV occurred. Therefore, a specifically designed service rack and a Launch and Recovery System (LARS) were built for proper maintenance. Testing results and experiences will be presented and discussed.