vehicles. Sliding mode control was one of the fi rst control methods implemented for underwater vehicles. It has shown advantages in several implementations. Different control methodologies used for underwater vehicles are categorized by Fossen. In the work of Logan, H/msynthesis methods are compared with the sliding mode method. A comparison of different control techniques, including artifi ci...

Simultaneous localization and mapping (SLAM) is an active method for Autonomous Underwater Vehicle (AUV), it can mainly be used in unknown complex areas such as coastal water, harbors, wharfs. This paper presents a practical occupancy grid-based based on forward-looking sonar AUV. The algorithm uses extended Kalman filter (EKF) to estimate the AUV motion states. First, SLAM fuses data coming fr...

An autonomous underwater vehicle (AUV) is achieved that integrates state of the art simultaneous localization and mapping (SLAM) into the decision processes. This autonomy is used to carry out undersea target reacquisition missions that would otherwise be impossible with a low-cost platform. The AUV requires only simple sensors and operates without navigation equipment such as Doppler Velocity ...

This paper demonstrates the modeling of seawater acoustic channel to obtain the optimum carrier frequency for autonomous underwater vehicle (AUV) wireless communication system. The wireless communication distance of an AUV with its control vessel changes due to the mission at different depths. Current AUV is designed with an operating depth of 0 to 2000m. Therefore, the existing model had limit...

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...

Efficient path planning algorithms and decision-making control system are crucial issues for modern autonomous underwater vehicle (AUV) in complex underwater environment. In this paper, Fast Marching (FM) algorithm is used to extract cost optimal paths from complex and continuous environments, and meanwhile, we design a decision-making control system with reactive structure based on behavior. T...

This paper describes depth control of autonomous underwater vehicle (AUV) using a new approach of decentralized system environment using Open Control Platform (OCP), to accommodate in changing information and control components. An LQR control algorithm with Genetic Algorithm (GA) is employed for simulation. In the simulation results, we present empirical results that show how OCP could helps t...

Platinum nanourchins supported on microfibrilated cellulose films (MFC) were fabricated and evaluated as hydrogen peroxide catalysts for small-scale, autonomous underwater vehicle (AUV) propulsion systems. The catalytic substrate was synthesized through the reduction of chloroplatinic acid to create a thick film of Pt coral-like microstructures coated with Pt urchin-like nanowires that are arra...