Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result...

In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of modelbased controllers. To this purpose, we formulate the depth control problems of the AUV as continuous-state, continuous-action Markov decision processes (MDPs) under un...

In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...

Over the last decades, the problem of building Autonomous Underwater Vehicles (AUVs) for missions in partially unknown underwater environment continue to challenge researchers. Although the AUV technology has matured and commercial systems have appeared in the market, a generic yet robust AUV command and control system still remains a key research focus. This thesis presents a novel command and...

in this study, the roll, yaw and depth fuzzy control of an au- tonomous underwater vehicle (auv) are addressed. yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. the discussed auv has four aps at the rear of the vehicle as actuators. two rule bases...

Aware of the new trends in Surveillance Operations, THALES Underwater Systems has been developing AUV based sonar systems since the late 1990’s. At present, THALES and ECA are developing an AUV system, within the frame of the French Poles of Competitiveness (Pôle Mer Bretagne). This project is called ASEMAR, for “Auv de SEcurité MARitime”. In this development, THALES and ECA work together in a ...

Ling, S., Mahon, I., Marzloff, M., Pizarro, O., Johnson, C., Williams, S. (2016). Stereo-imaging AUV detects trends in sea urchin abundance on deep overgrazed reefs. Limnology and Oceanography: Methods, 14(5), 293-304. [More Information] Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2016). True color correction of autonomous unde...

A new sensor based homing integrated guidance and control law is presented to drive an underactuated autonomous underwater vehicle (AUV) towards a fixed target, in the horizontal plane, using the information provided by an Ultra-Short Base Line (USBL) positioning system. Almost global asymptotic stability (AGAS) is achieved, both in the absence of external disturbances and in the presence of co...

The positive buoyancy diving autonomous vehicle combines the features of an Unmanned Surface Vessel (USV) and Autonomous Underwater Vehicle (AUV) for marine measurement monitoring. It can also be used to study reasonable efficient techniques underwater robots. In order optimization low power consumption high efficiency cruise motion vehicle, its dynamic modeling has been established. optimal cr...

This paper presents a new sensor based integrated guidance and control law to solve the homing problem of an underactuated autonomous underwater vehicle (AUV), in the horizontal plane, using the information provided by an Ultra-Short Base Line (USBL) positioning system. Global asymptotic stability (GAS) is achieved in the presence (and absence) of constant known ocean currents and simulation re...