Modeling and Simulation of the LAUV Autonomous Underwater Vehicle”, submitted to

Abstract — On this paper we derive the numerical coefficients for a nonlinear model of new AUV model designed at Oporto University. This is made using theoretical and empirical meth-ods as also by adapting the known results from similar AUVs. We use the derived model on MVS, a simulator which can be embedded in the loop of the control software, by replacing the interface with the sensors and actuators