in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

Modern autonomous underwater vehicle (AUV) research is moving towards multi-agent system integration and control. Many university research projects, however, are restricted by cost to obtain even a single AUV platform. An affordable, robust AUV design is presented with special emphasis on modularity and fault tolerance, guided by previous platform iterations and historically successful AUV desi...

There is increasing interest from the marine science community in using autonomous underwater vehicles (AUVs) under ice shelves and under sea ice. These environments pose challenges to the vehicle and support team, and they mean that recovery may be almost impossible, or very expensive, should the vehicle develop a fault particularly when beneath ice. This paper reviews recent published work on...

There is increasing interest from the marine science community in using autonomous underwater vehicles (AUVs) under ice shelves and under sea ice. These environments pose challenges to the vehicle and support team, and they mean that recovery may be almost impossible, or very expensive, should the vehicle develop a fault particularly when beneath ice. This paper reviews recent published work on...

Software engineering plays a key role in state-of-the-art robots where more effective and efficient software development solutions are basically needed for implementation and integration of advanced robotics capabilities. Component-based software engineering and model-driven software development are two paradigms suitable to deal with such demand. This paper presents the analysis, design, and i...

Simultaneous navigation and mapping (SLAM) of an autonomous underwater vehicle (AUV) based on side-scan sonar data has significant peculiarities that make standard SLAM techniques inapplicable. In particular, recognition of already visited places (loop closure) which is an important tool improving the navigation accuracy cannot be done with the raw sonar data. This and other navigation tasks ca...

A bio-inspired neurodynamics based path-following controller of underactuated autonomous underwater vehicle (AUV) in the presence of ocean current is proposed. A kind of bio-inspired neurodynamics model and the backstepping path-following controller are combined in this paper. The bio-inspired neurodynamics model is applied to generate smooth forward and angular velocities, so that the sharp sp...

Exploration for robotic mapping is typically handled using greedy entropy reduction. Here we show how to apply information lookahead planning to a challenging instance of this problem in which an Autonomous Underwater Vehicle (AUV) maps hydrothermal vents. Given a simulation of vent behaviour we derive an observation function to turn the planning for mapping problem into a POMDP. We test a vari...

Observations: This project is part of the Ripples DRI, in which the spatial and temporal variations of the seabed are being examined in a field site on the West Florida shelf. We are using the autonomous underwater vehicle (AUV) REMUS (Figure 1) to make better measurements of the spatial distribution of ripples, both during active conditions as the ripples are modified during energetic sea-stat...

This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV) subject to communication constraints. The aim is the design of a gain-scheduled varying sampling controller using non periodic measurements from ultrasonic sensors. The contribution of this work lies in a new model formulation of varying sampling discrete-time systems using the Linear Fractional Transformation (L...