Abstract:The external layout design of AUVs not only affects the overall performance parameters such as resistance and energy consumption but also determines the overall performance indicators of speed, stability, and agility of the vehicle. Multi-thruster Autonomous Underwater Vehicles (MAUVs), utilizing multiple thrusters for coordinated control, demonstrate stronger autonomy and maneuverability at low speeds compared to traditional AUVs controlled by a combination of "thrusters + rudder". In this paper, the shape parametric model and spatial motion model of a rudderless six-propeller AUV with fins are modelled, and hydrodynamic simulation and motion performance simulation systems are established. Subsequently, an offline optimization framework is built to optimize the MAUV shape parameters with the objectives of stability and maneuverability. Finally, the optimal shape scheme is obtained and performance analysis is performed.
