Mathematical model for WAVE, an energy harvesting marine surface vehicle

WAVE is a multi-propulsion vehicle developed by the Italian Navy which can work as an AUV (Autonomous Underwater Vehicle), a glider and, when at surface, as a wave glider. In this latter configuration, it behaves as a wave-powered autonomous surface vehicle that converts wave-induced motion into forward thrust through appropriately designed submerged wings, either loosely or rigidly connected to the floating body. When additionally equipped with solar panels, wave gliders can be designed for long-endurance missions. This paper presents a six degrees of freedom (DoFs) mathematical model of such a vehicle, featuring two independent wings rigidly connected to the rigid body. The numerical simulations provide theoretical basis and reference for future improvements and parameters identification.