Analysis of horizontal zigzag manoeuvring trials from the MUN Explorer AUV

A series of full-scale zigzag manoeuvring trials were performed using a streamlined Autonomous Underwater Vehicle (AUV) - the MUN Explorer AUV during the summer of 2006. This paper presents the results and observations from the zigzag manoeuvres or the Z-tests performed in horizontal planes. Unlike the conventional method of performing a Z-test, these zigzags were performed by allowing the vehicle to follow a predefined path that was laid out in a zigzag pattern. The paper outlines briefly the method by which these tests were conducted and discusses the observations made.