Maneuverability Analysis of a Novel Portable Modular AUV

Table 3

Turning radius of ZFAUV at different speed.

Forward	Tunnel
	20%	40%	60%	80%	100%
20%(0.56m/s)	6.1	3.3	2.8	2.5	2
40%(1.14m/s)	13.2	9.5	8	5.8	4.4
60%(1.79m/s)	29	20	14	10.5	8.2
80%(2.22m/s)	52	30	20	15	12
100%(2.87m/s)	72	38.5	26	21	17