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Improved designs for Autonomous Underwater Vehicles (AUV) are becomingincreasingly important due to their utility in academic and industrialapplications. However, a majority of such testing and design is carried outunder conditions that may not reflect the operating environment of shallowwater AUVs. This may lead to imprecise estimations of the AUV's performance andsub-optimal designs. This article presents experimental and numerical studiescarried out in conjunction, to investigate the hydrodynamic characteristics ofAUV hulls at different Reynolds numbers over sloped channel-beds. We carry outexperiments to measure the velocity field and turbulent statistics around theAUV with quantified uncertainty. These are contrasted against correspondingflat bed experiments to gauge the effect of test bed topography on AUVperformance. The experimental data was used to validate Reynolds Stress Modelpredictions. Hydrodynamic parameters such as drag, pressure and skin frictioncoefficients were predicted from the RSM simulations at different test bedslopes, angles of attack and drift angles of the AUV hull, to analyze thehydrodynamic performance of the AUV. The results presented in this articleoffer avenues for design improvement of AUVs operating in shallow environments,such as the continental slope and estuaries.

Experimental and numerical investigation of the hydrodynamic characteristics of Autonomous Underwater Vehicles over sea-beds with complex topography