A stable autonomous underwater vehicle (AUV) is essential for underwater survey activities. Previous studies have associated poor results in bathymetry survey and side-scan imaging with the vehicle’s unwanted roll motion. The problem is becoming more prominent as AUVs are smaller nowadays. This causes reduction in the metacentric height of the AUVs which affects the inherent self-stabilization ...

This paper describes the role of the autonomous underwater vehicle (AUV) Sirius on a research cruise to survey drowned reefs along the shelf edge of the Great Barrier Reef in Queensland, Australia. The primary function of the AUV was to provide georeferenced, high-resolution optical validation of seabed interpretations based on acoustic data. We describe the AUV capabilities and its operation i...

The Unmanned Underwater Vehicle (UUV) designed at the Mechanical Engineering Department of the University of Canterbury is in an early stage of development. With the design of the AUV completed, the primary focus now is to design control software. The control software has to be able to stabilize the vehicle at a desired position and let the vehicle follow a desired trajectory within a reasonabl...

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...

This paper is dedicated to developing of new method of synthesis of subsystem of accommodation to continuous faults for dead reckoning system (DRS) of autonomous underwater vehicles (AUV). Proposed method consists of three basic stages. On the first step, the problem of detection and localization of faults through the use of kinematic model of AUV and special data fusion from its navigation sen...

For the coordination and control of robot behavior, behavior decision is the foundation and the determinant of robot intelligence. Based on autonomous underwater vehicle (AUV), through the analysis of domestic anti-surge technology research status and inrush current model, a control technology with the use of behavioural decision upper and lower piecewise integration control between PID and FPI...

Synthetic aperture sonar (SAS) is emerging as an ideal sensor for autonomous underwater vehicle (AUV) based mine hunting and numerous other applications. By using vehicle motion to create a long synthetic array, image resolution can be increased by an order of magnitude or more compared to traditional side scan sonars. The SAS technology is also well suited for interferometric processing, facil...

Autonomous underwater vehicles (AUV) perform inspection missions and intervention in known and unknown environments, where it is necessary to ensure their safety. The AUV must have the ability to detect and avoid obstacles in the path of navigation. This article, an obstacle detection system for experimental Guanay II AUV is proposed, using a mechanical scanning SONAR Tritech Micron MK3. Since ...

The Seamonkey, an Autonomous Underwater Vehicle (AUV), was designed and built by the Cornell University AUV team (CUAUV) to compete in AUVSI’s annual AUV competition. The 2006 Seamonkey represents an evolution from CUAUV’s 2005 design, yielding a more reliable and less complex vehicle. Features which have been successful in the past, such as its dual hull construction, brushless motors, and fle...

This paper explores the intersection of two fields of research: autonomous underwater vehicles (AUVs), and archaeology in the deep sea. Archaeology in the deep sea poses a range of difficult, interesting problems for autonomous underwater vehicles. These include broad area sonar searches, target identification, and precision survey. Broad area sonar searches for archaeology have requirements si...