Development of a Compact Hybrid Underwater Vehicle Using Variable Vector Propeller

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 designed and examined in autonomous navigation. Experimental results indicate that our AUV can move along the targeted path and hold the desired position and the depth. Furthermore, we have responded to demand of fisheries and environmental survey companies, the untethered remotely operated vehicle (UROV) is developed for monitoring the real-time image under the sea. The feature of the UROV is controlled utilizing both of wireless and optical fiber. The UROV is controlled smoothly and clearly image is captured by remote control method. We can survey the buried cultural property in the field of maritime archaeology.