AUV Study

Found Cambridge is doing a project named blackghost. That image might be useful.

So that AUV designed in a shape of torpedo and uses four vector thrusters to move AUV.
The hull was separated in five modular sections.
It is mainly controlled by a 100W motor and rear  propeller to drive AUV to move forwardly.
There are four internal vector thruster for maneuvering.  They are arranged in two sets with one vertical and one horizontal thruster at the front and at end.

That AUV gives me a brief summary of how AUV works

Navigation: Accelerometer(a), Gyros(comparable XYZ) and pressure sensros(Z axis)
Propulsion: main propeller with two sets of horizontal/vertical vector thruster to achieve

Brushless Motor

Brushless DC electric motor (BLDC motors, BL motors) also known as electronically commutated motors(ECMs, EC motors) are synchronous motors that are powered by a DC electric source via an integratedinverter/switching power supply, which produces an AC electric signal to drive the motor.

So we need use separate microchip to drive our motor. Microchip,TI have bunch good