An algorithm is presented for tracking of Autonomous Underwater Vehicles (AUVs) from acoustic time-of-flight measurements received by a field of surface floating buoys. The algorithm assumes that measurements and AUV dynamics uncertainties are unknown but bounded, with known bounds, and produces as output the set of admissible AUV positions. The algorithm has been validated by simulation in whi...

Proof. This theorem is a corollary of the (much more general) Kruskal-Katona theorem. The Kruskal-Katona theorem has a very hands-on proof, based on iteratively modifying the graph. We will see a linear-algebraic proof. Let A be the n×n adjacency matrix of G (Auv = 1 if vertex u is adjacent to vertex v, and Auv = 0 otherwise). Note that A is symmetric. It turns out that e and t are both fundame...

This paper addresses the issue of guidance and control of an autonomous underwater vehicle (AUV) for a cable tracking problem. A linear quadratic Gaussian controller with loop transfer recovery (LQG/LTR) is developed because of its strong robustness properties. The vehicle is guided towards the target using a combination of different guidance algorithms. The vehicle speed is used to formulate t...

This paper presents the trajectory tracking control of an autonomous underwater vehicle (AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties. Stability of...

The Monterey Bay Aquarium Research Institute (MBARI) has developed a 21-inch (54 cm) diameter docking AUV and companion docking station. This program resulted in four consecutive successful autonomous homing and docking events in the open ocean, which included downloading data, uploading a new mission plan, recharging the battery, and complete power cycling of the AUV. We describe the design, s...

This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (AUV). The development includes the physical limitations of the rudder that involve more constraints for the control that has a limited action and implies to reduce the gain loop of the controller. The whole system is simulated in simulink and three different control...

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 researches an AUV (Autonomous Underwater Vehicle) positioning method based on SINS (Strapdown Inertial Navigation System)/LBL (Long Base Line) tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy c...

This paper describes the development and preliminary experimental evaluation of a visionbased docking system to allow an Autonomous Underwater Vehicle (AUV) to identify and attach itself to a set of uniquely identifiable targets. These targets, docking poles, are detected using Haar rectangular features and rotation of integral images. A non-holonomic controller allows the Starbug AUV to orient...

This paper proposes a robust navigation method for Autonomous Underwater Vehicles (AUVs) operating around structures such as harbors and breakwaters. This method consists of a state estimator and a motion controller, enabling localization in the configuration map as well as following pre-given waypoints without any external help. The state estimator is based on a “particle filter” where the veh...