Maintaining accurate localization of an autonomous underwater vehicle (AUV) is difficult because electronic signals such as GPS are highly attenuated by water making established land-based localization systems, such as GPS, useless underwater. Instead we propose an alternative approach which integrates position information of other vehicles to reduce the error and uncertainty of the on-board po...

Skilled mechanical arms of consanguine relationship formed by joints the relative motion of the adjacent interfaces enable, have been connected. Ability to perform a variety of pre-programmed robotic manipulator in various industries. Skilled mechanical arms in recent years as a significant progress has been completed. House repair and easier to work with them as well and fit and optimal relati...

Abstract This paper reports the development of a lightweight remotely operated vehicle that performs underwater excavation work for archaeological surveys. Discovering artifacts is generally difficult because they are in high risk areas and often covered with sediment. To discover them, divers large vehicles must conduct manipulator(s). Nevertheless, accomplishing such tasks small portable robo...

The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law. For a truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element, which generates suitable trajectories to be followed. In this survey paper, various guidance laws found in the literature and their...

In this article we present a feedback control law which gives exponential convergence of a nonholonomic underwater vehicle to a constant desired connguration. This is achieved using a piecewise smooth feedback control law which is based on previous work on the control of nonholonomic mobile robots in the plane. The kinematic model of the underwater vehicle is given in SE(3) by homogeneous trans...

In the paper using of the artificial neural networks for determination of coefficients of state equations of underwater vehicle’s motion in a horizontal plane and influence of neuron’s activation function for quality of underwater vehic le’s motion modelling is presented. The recurrent optimization network is used to identify parameters of the underwater vehicle’s dynamics. A structure and the ...

This paper considers thruster dead zones and saturation limits in fine motion control of underwater robots. Thruster dead zones and saturation limits are major nonlinear elements that make fine motion control of underwater robots difiicult. If the vehicle is designed with a redundant thruster configuration, the dead zone and the nonlinear region around it can be completely avoided by implementi...

In this article we present a feedback control law which gives exponential convergence of a nonholonomic underwater vehicle to a constant desired connguration. This is achieved using a piecewise smooth feedback control law which is based on previous work on the control of nonholonomic mobile robots in the plane. The kinematic model of the underwater vehicle is given in SE(3) by homogeneous trans...

Abstract The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity perform tasks autonomously. However, controlling both the and remotely operated (ROV) based on vision system information is not an easy task, especially in situations where cannot be parked/held stationary. Most existing approaches work complex matrix ca...