Poster: Physics Based Digital Twin Framework for an Autonomous Underwater Vehicle

The performance of Autonomous Underwater Vehicle (AUV) is extremely difficult to analyze in the digital world due to limited communication and lack of GPS in underwater. The major challenge is modeling the dynamic environment. This work presents a Unity-based Digital Twin(DT) framework of the AUV and the underwater environment. A physics-based water model, incorporating Smoothed Particle Hydrodynamics (SPH) and ray-marching techniques, is employed to simulate the underwater environment and analyze vehicle dynamics and navigation, enabling simulation-based testing, algorithm validation, and performance evaluation of AUV missions before real-world deployment.