In this paper, is presented the design of an algorithm for detection and avoidance of obstacles for Guanay II AUV. The obstacle detection system is based on a sonar and its use guarantees the safe navigation of AUV. The strategy of obstacle avoidance is performed based on Fuzzy reactive architecture for different forward speeds of the vehicle. Simulation results obtained by developing the algor...

Here a innovative approach of Auto tuned fractional order control is proposed for fault tolerant control of Autonomous Underwater Vehicle (AUV). From fault detection and reconfiguration, fractional order controller is designed. Reconfiguration is designed using Eigen structure assignment technique. The proposed approach is tested on REMUS-100 AUV model. Variable step input is used as a referenc...

This paper presents an analysis of the acoustic emissions emitted by an underway REMUS-100 autonomous underwater vehicle (AUV) that were obtained near Honolulu Harbor, HI using a fixed, bottom-mounted horizontal line array (HLA). Spectral analysis, beamforming, and cross-correlation facilitate identification of independent sources of noise originating from the AUV. Fusion of navigational record...

The paper considers feedback stabilization of the position and attitude of an autonomous underwater vehicle (AUV) with a reduced number of actuators. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. The paper shows that previous results on attitude stabilization of a spacecraft can be applied to exponentially stabilize both the position and attitude of an ...

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown...

Bluefin’s business focus is the design and manufacture of autonomous underwater vehicles for use in military, scientific, and commercial applications. For many AUV missions, accurate navigation that does not depend on acoustic beacons in the operating region is one of the primary remaining technical hurdles. This effort will address this need through the creation of the Cornerstone AUV Navigato...

The long-term goals of this project are to develop techniques, which can be used in the design of AUV’s to minimize the radiated noise. The self noise from an AUV can interfere with acoustic sensors on board the AUV, specifically acoustic modem sensors and other sonar equipment. Hence the reduction of AUV noise and structural vibration is essentail in increasing the reliability of operation of ...

This paper describes field experiments with an X8 Unmanned Aerial Vehicle (UAV) operating as a wireless communication relay while loitering over a REMUS 100 Autonomous Underwater Vehicle (AUV) being at the ocean surface. The paper describes the design of the communication relay payload, network configuration, optimal flight conditions and UAV antenna mounting, and experimental results. Experime...

Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and remotely operated vehicles (ROV) technology. AUVs are attractive as cheaper and efficient alternatives to the older technologies and are breaking new ground in many applicatio...