Current underwater crawling vehicles could benefit by using rotating head sonar data to avoid collisions with obstacles. We have developed and optimized a fuzzy logic controller using software for simulation of an underwater environment. The optimization results show near an order of magnitude increase in performance over both straight line and lawnmower search patterns with relatively small ch...

The concept of multiple Autonomous Underwater Vehicles (AUVs) cooperatively performing a mission offers several advantages over single vehicles working in a non-cooperative manner such as increased efficiency, performance, reconfigurability, robustness and the emergence of new capabilities. This paper introduces the concept of coordinated path-following control of multiple AUVs. The vehicles ar...

Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm...

This paper reviews the applications and challenges of robotic systems in the underwater domain. It focuses on the challenges for achieving embedded situation awareness, adaptive trajectory planning and adaptive mission planning. These are required elements for providing true autonomy for delegation of tasks to unmanned underwater vehicles. The paper analyses current approaches to tackling these...

A fuzzy autopilot for track-keeping control of underwater vehicles is considered. Input variables fuzzification, fuzzy rules and output set defuzzification are described. Quality of control of the fuzzy tracking controller under influence of the sea current disturbance was analysed and compared to a traditional PD controller. Some computer simulations are provided to demonstrate the effectivene...

Continuous relative localization among all local members of a school of submarines is an essential pre-condition for distributed motion control. Exploiting the short-range, underwater electromagnetic as well as the acoustical channel, the proposed approach delivers sufficient bearing, range and posture estimations based on local sensing in small, autonomous submersibles with limited energy capa...

This paper proposes the result of hardware in the loop simulation (HILS) for performance evaluation about a small attitude heading reference system (AHRS) based micro electro mechanical system (MEMS) suitable for small unmanned underwater vehicle. Unmanned underwater vehicles (UUV) have many applications in scientific, military, and commercial area due to its autonomy and the navigation system ...

Underwater wireless sensor networks consist of a certain number of sensors and vehicles that interact to collect data and perform collaborative tasks. The sensor network consists of static and mobile underwater sensor nodes. The nodes communicate point-to-point using a novel high-speed optical communication system integrated into the TinyOS stack or other small operating system, and they broadc...

Underwater localization is a crucial capability for reliable operation of various types of underwater vehicles including submarines and underwater robots. However, sea water is almost impermeable to high-frequency electromagnetic waves, and thus absolute position fixes from Global Positioning System (GPS) are not available in the water. The use of acoustic telemetry systems such as Long Baselin...

This article analyzes environmental security in the sphere of sea navigation, safety of navigation and tourism on the Adriatic Sea, bearing in mind that keeping marine environment healthy is one of fundamental factors of today’s national and international security. Likewise, secure underwater environment strengthens public security from hazards deriving from seafloor caused by human negligence ...