Motion Optimization of Autonomous Underwater Vehicles by Genetic Algorithm

Motion planning for seabed monitoring by autonomous underwater vehicles

This thesis deals with mission planning for multi-robot seabed monitoring task with Autonomous Underwater Vehicles (AUV). The overall goal of this work is to design a mission planner that ensures visiting all places in a given area and keeps the AUVs in operational state by charging from the seabed station. Key part of designed mission planner is also the motion planning. We propose two differe...

Navigating Autonomous Underwater Vehicles

Autonomous Underwater Vehicles (AUVs) are powerful tools for exploring, investigating and managing our ocean resources. As the capabilities of these platforms continue to expand and they continue to mature as operational assets, navigation remains a fundamental technological component. This chapter presents a road map for the vehicle designer to aid in integrating the latest navigation methods ...

Autonomous Underwater Vehicles

Navigation is one of the most critical factors in determining the operational suitability of any unmanned vehicle for its designated environment. In fully autonomous vehicles, due to the lack of a human operator to perform the navigation task, there is a fundamental requirement to incorporate estimation techniques that can provide the desired information necessary for navigation. Such informati...

Autonomous underwater vehicles: Hybrid control of mission and motion

Coordinated Motion Control of Multiple Autonomous Underwater Vehicles

Spawned by recent advances in technology, widespread attention has been focused on the coordination of multiple autonomous vehicles. In numerous mission scenarios, the concept of a group of agents cooperating to achieve a determined goal is very attractive when compared with the solution of one single, heavily equipped vehicle, as it exhibits better performance in terms of efficiency, flexibili...