Abstract
In this paper, horizontal manoeuvrability of an underwater vehicle near free surface was investigated. Planar Motion Mechanism(PMM) tests were performed at the shallow depth within 4.5 times of vehicle's diameter. Hydrodynamic coefficients related to the horizontal movement were estimated from the measured data using Least SQuare(LS) method and analyzed at each submerged depth. Furthermore, horizontal dynamic stability, trajectory of turning and zigzag test were investigated for the various depths. As underwater vehicle is positioned nearer to the free surface, forces increase and moment decreases. Tested model was found to be stable only at the depth 0.5 times of vehicle's diameter.
