The development and application of vessels such as AUVs and submarines is expected to increase in the future, especially for exploiting the Arctic areas. Current methods of motion prediction and simulation for such vessels are not valid for vessels operating close to the bottom, close to obstacles or close to the free surface where they are subject to wave action. Other challenging areas are underwater vehicles equipped with manipulators and cargo carrying vehicles. The need for improved theoretical methods and prediction and simulation tools is therefore obvious in this area.

The objective of the project is to develop a time domain simulation model for underwater vehicles in confined waters, close to the bottom, and close to the free surface in calm water and in wave conditions. The basis will be development of non-linear hydrodynamic methods. The application of CFD methods to the close to bottom case and to the close to free surface case in calm water has proved promising. Similarly, the application of a nonlinear unified state-space model for manoeuvring and control of surface vessels in a seaway has proved promising, and will be applied to underwater vehicles in the project.