2015 DECLARATION I hereby declare that this thesis is my original work and it has been written by me in its entirety. I have duly acknowledged all the sources of information which have been used in the thesis. This thesis has also not been submitted for any degree in any university previously. Summary More and more autonomous underwater vehicles (AUVs) are designed to be modular, where their pa...

Cooperative hunting is a typical task that reflects the intelligence level of swarm. For complex underwater weak information environment with obstacles, problem description multi-autonomous vehicle (AUV) cooperative given, considering influencing factors, including AUV sensing interaction range, and target escape strategy. A hybrid adaptive preference method based on improved artificial potenti...

In the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. Since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. In this study, hydrodynamic coefficients of an autonomous un...

Regular inspection of underwater communications (pipelines and cables) is actual problem of modern oil and gas industry. Specially equipped vessels, towed underwater devices and remote operated vehicles /ROV/ are applied for these purposes as usually, but quality of acquired data does not always allow revealing emergencies at the proper time. “Spot” inspections by ROVs give difficultly comparab...

This article studies the joint localization and tracking issue for autonomous underwater vehicle (AUV), with constraints of asynchronous time clock in cyberchannels model uncertainty physical channels. More specifically, we develop a reinforcement learning (RL)-based algorithm to localize position AUV, where AUV is not required be well synchronized real time. Based on estimated position, scalab...

This paper describes the use of a single hydrophone to estimate motion parameters an autonomous underwater vehicle (AUV) from acoustic signal excited by its propulsion motor. First, frequency range hydroacoustic radiated AUV motor is determined, and detection recognition model designed. In case uniform linear AUV, geometric relationship between Doppler shift curve sound source derived line prop...

Simultaneous localization and mapping (SLAM) is an active method for Autonomous Underwater Vehicle (AUV), it can mainly be used in unknown complex areas such as coastal water, harbors, wharfs. This paper presents a practical occupancy grid-based based on forward-looking sonar AUV. The algorithm uses extended Kalman filter (EKF) to estimate the AUV motion states. First, SLAM fuses data coming fr...

a thesis submitted in partial fulfillment of the requirements for the degree of Bilas Chowdhury (107EE065) under the guidance of Rourkela CERTIFICATE This is to certify that the thesis entitled, " Control of Autonomous Underwater Vehicles " submitted by Mahendra Pratap Singh and Bilas Chowdhury in partial fulfillment of the requirements for the award of Bachelor of Technology Degree in Electric...