Maneuverability Analysis of a Novel Portable Modular AUV

Table 8

Trapezoidal steering parameters-differential control (30%).

Forward speed ()	10	20	40	60	80	100
(m/s)	0.25	0.39	0.81	1.27	1.57	2.03
(s)	3.75	3.75	4.12	5.00	5.87	7.5
()	3.0	2.5	1.1	0.4	0.2	0.1
(m)	-0.22	0.03	0.24	0.45	0.63	0.96