Recently, data collection from seabed by means of underwater wireless sensor networks (UWSN) has attracted considerable attention. Autonomous underwater vehicles (AUVs) are increasingly used as UWSNs in underwater missions. Events and environmental parameters in underwater regions have a stochastic nature. The target area must be covered by sensors to observe and report events. A ‘topology cont...

This paper is dedicated to developing of new method of synthesis of subsystem of accommodation to continuous faults for dead reckoning system (DRS) of autonomous underwater vehicles (AUV). Proposed method consists of three basic stages. On the first step, the problem of detection and localization of faults through the use of kinematic model of AUV and special data fusion from its navigation sen...

For the coordination and control of robot behavior, behavior decision is the foundation and the determinant of robot intelligence. Based on autonomous underwater vehicle (AUV), through the analysis of domestic anti-surge technology research status and inrush current model, a control technology with the use of behavioural decision upper and lower piecewise integration control between PID and FPI...

Synthetic aperture sonar (SAS) is emerging as an ideal sensor for autonomous underwater vehicle (AUV) based mine hunting and numerous other applications. By using vehicle motion to create a long synthetic array, image resolution can be increased by an order of magnitude or more compared to traditional side scan sonars. The SAS technology is also well suited for interferometric processing, facil...

Autonomous underwater vehicles (AUV) perform inspection missions and intervention in known and unknown environments, where it is necessary to ensure their safety. The AUV must have the ability to detect and avoid obstacles in the path of navigation. This article, an obstacle detection system for experimental Guanay II AUV is proposed, using a mechanical scanning SONAR Tritech Micron MK3. Since ...

The Seamonkey, an Autonomous Underwater Vehicle (AUV), was designed and built by the Cornell University AUV team (CUAUV) to compete in AUVSI’s annual AUV competition. The 2006 Seamonkey represents an evolution from CUAUV’s 2005 design, yielding a more reliable and less complex vehicle. Features which have been successful in the past, such as its dual hull construction, brushless motors, and fle...

This paper explores the intersection of two fields of research: autonomous underwater vehicles (AUVs), and archaeology in the deep sea. Archaeology in the deep sea poses a range of difficult, interesting problems for autonomous underwater vehicles. These include broad area sonar searches, target identification, and precision survey. Broad area sonar searches for archaeology have requirements si...

Recognizing the potential of autonomous underwater vehicles for scientific and military applications, in 1997 MIT and the NATO Undersea Research Centre initiated a Joint Research Project (GOATS), for the development of environmentally adaptive robotic technology applicable to mine counter measures (MCM) and rapid environmental assessment (REA) in coastal environments. The August 2001 GOATS Conf...

Positively buoyant autonomous underwater vehicles (AUVs) operate at survey speeds with a pitch angle that is maintained through application of the control surfaces, sufficient to generate hydrodynamic forces to counteract the excess buoyancy. To facilitate lower forward speeds and the ability to hover requires some additional method of control. This paper reviews possible options and then indic...