Fast calibration procedure of the dynamic model of an autonomous underwater vehicle from a reduced set of experimental data

AUVs (Autonomous Underwater Vehicles) represent an interesting in-dustrial product with applications ranging from the monitoring of cultural and nat-ural heritage to the inspection of underwater plants for the Oil&Gas industry. De-velopment of AUVs also represents an interesting challenge for researchers and engineers involving a melting of different competences of robotics, mechanics and mechatronics. In particular, this paper is focused on the simulation, identification and validation of simplified hydrodynamic models that can be used for the overall verification and simulation of vehicle performances including aspects related to ma-noeuvrability and controllability of the system. The identification and validation process described in this work is based on past experiences with the Typhoon AUV built by the MDM Lab (Mechatronics and Dynamic Modelling Laboratory) of the University of Florence, Italy.