Maneuverability Analysis of a Novel Portable Modular AUV

Table 7

Trapezoidal steering parameters-tunnel control (30%).

Forward speed ()	10	20	40	60	80	100
(m/s)	0.33	0.56	1.14	1.79	2.22	2.87
(s)	3.62	3.62	4.12	4.87	5.62	6.75
()	12.8	7.8	3.4	1.6	1.2	0.8
(m)	0.21	0.98	2.29	4.20	5.96	9.13