Purpose We investigate the observability properties of the process of simultaneous localization and mapping of an Autonomous Underwater Vehicle (AUV), a challenging and important problem in marine robotics, and illustrate the derived results through computer simulations and experimental results with a real AUV. Design/methodology/approach We address the single/multiple beacon observability anal...

Development of autonomous underwater vehicles (AUVs) which meets the design constraints and provides the best hydrodynamic performance is really an important challenge in the field of hydrodynamics. In this paper a new profile is used for designing the hull of AUVs. The nose and tail profiles of an AUV using presented profile is designed such that it can properly consider the length constraints...

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...

One approach for creation of a graphical environment for AUV mission programming and veriication is described in the paper. It is based on a Petri net theory. The results of the AUV mission programming and veriication using the graphical environment are supplemented.

The dynamic characteristics of autonomous underwater vehicles (AUVs) present a control problem that classical methods cannot often accommodate easily. Fundamentally, AUV dynamics are highly non-linear, and the relative similarity between the linear and angular velocities about each degree of freedom means that control schemes employed within other flight vehicles are not always applicable. In s...

In this study, numerical computation is used to develop a physical model representing all important features of the Autonomous Underwater Vehicle's (AUV) shape using finite element methods. Because AUV an essential factor in determining application and vehicle's capability, investigating effect environment on profile needed. This paper illustrates Computational Fluid Dynamics (CFD) investigate ...

This paper describes the development of a fuzzy autopilot for controlling the non-linear yaw dynamics of an autonomous underwater vehicle (AUV) model. The autopilot design is based on a new approach that uses a Gaussian fuzzy inference mechanism. For the design study, the AUV model is hosted in the MATLAB/Simulink environment. Simulation results are presented which illustrate the potential of t...