摘要：There is much need for autonomous underwater vehicles(AUVs)for inspection and mapping *** conventional AUVs use torpedo-shaped single-rigid hull,because of which their manoeuvrability is ***,any increase in payload results in a larger hull size and the turning diameter,limiting its operation in constrained *** a solution to this problem,we develop M-Hull,a subsurface mapping AUV with a modular-split hull design that provides better manoeuvrability than a conventional torpedo-shaped *** the same time,it has more agility than an unconventional bio-inspired snake-like vehicle though their designs look *** approach makes it a hybrid solution between conventional torpedo-shaped AUVs and unconventional bio-inspired *** focus on improving the turning diameter during the mapping operation,and hence this paper concentrates on the dynamic aspects of the 2D turning motion of the *** will provide the relationship between turning speed,thrust,and joint torque requirements for the multi-hull underwater *** turning modes are compared to choose an optimum turning configuration,and the critical speed is calculated for the vehicle's safe *** the end,the modelling is verified using the experimental *** can follow the method followed here for the 2D motion analysis of similar underwater vehicles.