A key component of an autonomous underwater vehicle (AUV) is the navigation system. It is important for navigating the vehicle but it is also vital for being able to utilize the data collected during a mission. This paper presents the main challenges faced when designing reliable underwater navigation systems, and outlines a framework for detecting and isolating sensor faults using a bank of Ka...

This paper presents a reactive/local level of an Obstacle Avoidance System for an Autonomous Underwater Vehicle (AUV). The specific requirements of the underwater world, the computational capacity and the sensors of the vehicle as well as its manoeuvrability were considered by the choice and the development of strategies used. Such requirements include the sea current information, the considera...

Our immediate objectives are to develop a technique to measure vertical water velocity and the turbulent fluxes of heat and salt with Autonomous Underwater Vehicles (AUV), and to construct a vehicle to fully test and exploit the technique. This has been done in a limited way with our Autonomous Conductivity and Temperature Vehicle (ACTV). Morison and McPhee (1998) use the vertical motion of the...

This paper describes an autonomous underwater vehicle (AUV) with fuzzy controller and PID controller. Our AUV is compact and light in weight by employing variable vector (VARIVEC) propeller and compact controller. The AUV is autonomously controlled by utilizing the electronic compass, collision avoidance sonar, depth sensor and GPS receiver unit. A fuzzy controller and PID controller have desig...

This paper is about using range-only data to navigate an autonomous underwater vehicle (AUV). We assume the vehicle is equipped with conventional long base line (LBL) transceiver which measures acoustic time of flights (TOFs) between vehicle and small submerged transponders. Using only range data and no prior information other than approximate water column depth, we solve for both transponder l...

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...

an autonomous underwater vehicle (auv) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. design, hydrodynamic analysis, modeling, fabrication, navigation, and control of this novel auv is the main goal of this research. detailed explanation of the test and experiment with a brief overview on fabrication are provide...

This paper presents the design of the electronics, the sensor data processing scheme and the implementation of the behaviour based control for a small autonomous underwater vehicle (AUV). The robot has a volume of 12dm and is used as a demonstration vehicle for underwater ai-technologies. The thruster configuration allows the μAUV to hover and its active light sensors enable obstacle detection ...

This research addresses the problem of coordinating multiple autonomous underwater vehicle (AUV) operations. An intelligent mission executive has been created that uses multi-agent technology to control and coordinate multiple AUVs in communication deficient environments. By incorporating real time vehicle prediction, blackboard-based hierarchical mission plans, mission optimization and a distr...

This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data col...