Form, Propulsion, and Powering

This chapter discusses the key considerations for designing the hull form of an AUV, namely, hydrostatics, hydrodynamics and propulsion. AUV propulsion is a critical determinant of mission success. Propulsion of AUVs can be through thrusters, or using buoyancy changes, or biomimetic means. Thrusters are the most widely used solution for AUVs, and steps for their selection are outlined.