Resistance of Autonomous Underwater Vehicles (AUVs) Operating Near Free Surface: A Review

Abstract

An autonomous underwater vehicle demonstrates complex resistance dynamics as it maneuvers close to the free surface of the water. The boundary region characterizes special features in situations containing surface waves, air and water interaction, as well as changes in pressure conditions, all of which contribute to significant challenges by augmenting resistance levels and inducing changes in the behavior of the surrounding fluid. This paper addresses the effect of resistance on the design, motion, and energy consumption of a vehicle, quantified according to shape, operating depth, speed, and propulsion means. This detailed review of CFD simulations and experimental methodologies is anticipated to contribute to the ongoing advancements in both aspects, as well as shed light on the existing constraints of the approach. Such findings can play a crucial role in the enhancement and development of more efficient, capable, and high-performing AUVs designed for operations near the free surface