Figure 15. Location of the thrusters on the AUV, definition of the distances, and direction of the positive thrust

From

Modeling and Control Approach for a Complex-Shaped Underwater Vehicle

G.A.C.T. Bandara, D.A.A.C. Ratnaweera, D.H.S. Maithripala

American Journal of Mechanical Engineering. 2019, 7(4), 158-171 doi:10.12691/ajme-7-4-2