Can smoothed particle hydrodynamics simulate physically realistic movements of underwater vehicles?

This work presents the first results using Smoothed Particle Hydrodynamics (SPH), a mesh-free technique, to simulate underwater vehicle motion with the goal of achieving sufficient physical realism and computation time performance capabilities. The objective is not to get very accurate values for the hydrodynamic parameters, but to show that SPH can simulate hydrodynamic parameters with the same order of magnitude as the reference, in order to allow a realistic control of robots in water. First, spherical objects are simulated to check buoyancy realism, speed limit existence, and hydrodynamic parameters in comparison with reference values. Then, horizontal and vertical movements of a capsule-shape object and a real torpedo-shape underwater robot are compared. The results show that buoyancy is respected, and that spherical objects reach a speed limit in accordance with the laws of physics. In addition, added-mass is simulated with 20 % variation on average with respect to the reference and varies homothetically with respect to the object's size. In contrast, drag forces cannot not be simulated with the same level of realism without reducing the particle size, which makes the simulation last longer. SPH for underwater robotics simulation appears to be promising, and ways of further improvements are being considered. [ABSTRACT FROM AUTHOR]