Autonomous Underwater Vehicle (AUV) response robots are special multipurpose devices, capable of moving and performing various tasks in water, autonomously, or with human teleoperation. Capability assessment of such devices is hard and complex work. This paper describes our work in AUV Response Robot testing from two aspects: First, additional testing methods are proposed for AUV capability ass...

In the AUV binocular vision navigation, in order to improve the AUV positioning accuracy, optimizing the stereo vision imaging system structure and weighted least-square method is proposed. The principle of AUV location is analyzed, and that the AUV location accuracy depends on the measurement precision of the three dimensional space point is proposed. Based on the analysis of stereo vision mea...

Abstarct In this paper, a new approach to optimize an Autonomous Underwater Vehicle (AUV) hull geometry is presented. Using this methode, the nose and tail of an underwater vehicle are designed, such that their length constraints due to the arrangement of different components in the AUV body are properly addressed. In the current study, an optimal design for the body profile of a torpedo-shaped...

A sophisticated simulator provides a cost-effective measure to carry out preliminary mission testing and diagnostic while reducing potential failures for real life at sea trials. The presented simulation framework covers three key areas: AUV modeling, sensor modeling, and environment modeling. AUV modeling mainly covers the area of AUV dynamics. Sensor modeling deals with physics and mathematic...

The paper considers control of an autonomous underwater vehicle (AUV) with a reduced number of actua-tors. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. A continuous periodic time-varying feedback law is presented. It is shown that it exponentially stabilizes the total AUV model using only four actuators. Furthermore, it is shown that if the hydrodynami...

Currently a platform to investigate the underwater environment is required. In this paper, we propose an autonomous underwater vehicle (AUV) with an accurate positioning system. The positioning system is developed to be accurate enough to utilize the superior navigation ability of our AUV feature. The navigation ability is acquired by the variable vector propeller mechanism. The accurate positi...