This paper researches an AUV (Autonomous Underwater Vehicle) positioning method based on SINS (Strapdown Inertial Navigation System)/LBL (Long Base Line) tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy c...

This paper describes the development and preliminary experimental evaluation of a visionbased docking system to allow an Autonomous Underwater Vehicle (AUV) to identify and attach itself to a set of uniquely identifiable targets. These targets, docking poles, are detected using Haar rectangular features and rotation of integral images. A non-holonomic controller allows the Starbug AUV to orient...

This paper proposes a robust navigation method for Autonomous Underwater Vehicles (AUVs) operating around structures such as harbors and breakwaters. This method consists of a state estimator and a motion controller, enabling localization in the configuration map as well as following pre-given waypoints without any external help. The state estimator is based on a “particle filter” where the veh...

We discuss the problem of active inspection of a marine structure by an autonomous underwater vehicle (AUV). The AUV must plan a path of sensing views that estimates the difference between two surfaces: one reconstructed from prior data, and one reconstructed online during inspection. We propose modeling the structure’s surface using non-parametric Bayesian regression, which allows for a number...

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 presents an adaptive nonlinear controller for diving control of an autonomous underwater vehicle (AUV). So far, diving dynamics of an AUV has often been derived under various assumptions on the motion of the vehicle. Typically, the pitch angle of AUV has been assumed to be small in the diving plane. However, these kinds of assumptions may induce large modeling errors and further may ...

The maneuver characteristic of the most commonly used AUV integrated navigation systems was investigated in this paper. After analyzing the error cause of conversional used Kalman filter of SINS/DVL integrated navigation systems in maneuver state, a novel method was proposed which is to use the output of complex navigation systems to revise the SINS in real-time, and an improved adaptive Kalman...

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...

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that ...

This paper describes a two week deployment of the Autonomous Underwater Vehicle (AUV) Sirius on the Tasman Peninsula in SE Tasmania and in the Huon Marine Protected Area (MPA) to the South West of Hobart. The objective of the deployments described in this work were to document biological assemblages associated with rocky reef systems in shelf waters beyond normal diving depths. At each location...