Dynamic modeling and numerical simulation of tandem multibody autonomous underwater vehicles with emphasis on horizontal turning performance

Tandem multibody autonomous underwater vehicles (TMAUVs) offer advanced maneuverability, making them well-suited for unmanned underwater tasks such as seabed inspection and repair. Unlike traditional single-body AUVs, TMAUVs consist of interconnected AUV units linked through passive planar joints, enabling coordinated motion and enhanced adaptability. This study introduces a dynamic modeling framework for TMAUVs, incorporating distributed thruster forces and a piecewise representation of passive planar joints. The proposed model, developed using the Lagrangian method, incorporates both external forces from distributed thrusters and internal dynamics governed by passive joint behavior. The passive joints are modeled in three distinct states, including free rotation, spring damping, and rigid limiting, ensuring smooth transitions for CFD simulations. Using this model, the study conducts CFD-based simulations of TMAUV horizontal rotation in three thrust configurations. Results reveal insights into turning radius, velocity, and hydrodynamic performance, offering a valuable reference for further maneuverability studies. • A dynamic model for TMAUVs is developed, integrating distributed thrust and planar joints. • A three-state joint model captures passive planar joint transitions in TMAUV systems. • CFD simulations are performed based on the established TMAUV dynamic model. • Thrust configurations influence turning radius and hydrodynamic performance of TMAUVs. • The study offers insights to enhance TMAUV maneuverability in underwater environments.