Abstract The development of underwater vehicles has opportunity to be further improved. One the most challenging for developing vehicle is automatic tracking system Autonomous Underwater Vehicle (AUV). This research develops AUV with object detection and systems. These systems are developed by using vision-based method. designed Penta Tubular type whereas started from captured image taken camer...

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interact...

This work shows a linearization for a AUV-Cormoran dynamic mathematical model with the aim of designing linear controllers for trajectory control. The model is developed under 3 degrees of freedom and the whole system has been simulated in Matlab Simulink environment. The linearization model is based on understanding the dynamics of the vehicle under different operating speeds, which present a ...

We describe an approach to decentralized control and distributed data fusion that enables a team of autonomous underwater vehicles to cooperatively and autonomously localize and track a source of acoustic noise, and we report on field experiments that demonstrate the efficacy of our approach. A principal challenge of subsea coordination is the the extremely low-bandwidth acoustic communication ...

Autonomous underwater vehicles (AUVs) have gained more interest in recent years for military as well as civilian applications. One potential application of AUVs is for the purpose of undersea surveillance. As research into undersea surveillance using AUVs progresses, issues arise as to how an AUV acquires, acts on, and shares information about the undersea battle space. These issues naturally t...

Underwater vehicles are employed to perform many tasks: structure inspection, recovery, geographic surveys, e.t.c. but most in current operation require constant human supervision. In an attempt to make these vehicles more autonomous, this research project aims to develop a multivariable, neurofuzzy network controller for application to an Autonomous Underwater Vehicle (AUV). The vehicle being ...

This paper presents the design, analysis, and performance evaluation of an attitude filter for an Intervention-Autonomous Underwater Vehicle (I-AUV) working in tandem with an Autonomous Surface Craft (ASC). In the proposed framework, an ASC aids an I-AUV to determine its attitude by providing an inertial reference direction vector through acoustic modem communications, which is measured in body...

As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for the use of underwater vehicle systems has become more apparent. Underwater vehicles represent a fast-growing research area and promising industry as advanced technologies in various subsystems develop and potential application areas are explored. Great efforts have ...

Trajectory design for Autonomous Underwater Vehicles (AUVs) is of great importance to the oceanographic research community. Intelligent planning is required to maneuver a vehicle to high-valued locations for data collection. We consider the use of ocean model predictions to determine the locations to be visited by an AUV, which then provides near-real time, in situmeasurements back to the model...

Recently, data collection from seabed by means of underwater wireless sensor networks (UWSN) has attracted considerable attention. Autonomous underwater vehicles (AUVs) are increasingly used as UWSNs in underwater missions. Events and environmental parameters in underwater regions have a stochastic nature. The target area must be covered by sensors to observe and report events. A ‘topology cont...