Intro
Full underwater simulation models the complex physical interaction between vehicles and surrounding water, including Hydrodynamics forces like:
- buoyancy
- drag
- added mass
- viscous damping
Modeling these forces improves the accuracy of predicted underwater vehicle behavior
High-Fidelity Robotics & Physics Simulation
Gazebo
Gazebo (with ROS integration) is a widely used robotics simulator that supports underwater vehicle dynamics through specialized physics plugins.
These plugins model effects such as buoyancy, drag, and added mass to approximate realistic underwater motion.