Maneuverability Analysis of a Novel Portable Modular AUV

Table 5

Heading zigzag parameters-differential control (50%).

Forward speed ()	10	20	40	60	80	100
(m/s)	0.16	0.39	0.81	1.27	1.57	2.03
(s)	6.25	5.31	4.13	4.00	4.25	4.94
	1.00	1.04	1.67	2.54	3.34	5.01
(s)	5.85	3.88	1.98	1.23	0.98	0.75
()	60.6	31.1	9.5	4.2	2.4	1.7