In this paper, a vision-based system which help an autonomous underwater vehicle (AUV) to detect and track a given stationary target placed on the sea bottom, for e.g. a sealine, is presented. A Back Propagation neural networks is applied to perform a real-time classification of the input image pixels into two different classes corresponding to sealine edge or other regions. A post-processing m...

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown...

Unmanned underwater vehicles (UUVs) are increasingly being used by civilian and defence operators for ever more complex and dangerous missions. This is due to the underlying characteristics of safety and cost effectiveness when compared to manned vehicles. UUVs require no human operator be subject to the conditions and dangers inherent in the underwater environment that the vehicle is exposed t...

Most applications of underwater wireless sensor networks (UWSNs) demand reliable data delivery over a longer period in an efficient and timely manner. However, the harsh and unpredictable underwater environment makes routing more challenging as compared to terrestrial WSNs. Most of the existing schemes deploy mobile sensors or a mobile sink (MS) to maximize data gathering. However, the relative...

This paper presents a vision-based docking algorithm for an autonomous underwater vehicle (AUV). The algorithm allows the AUV to egress through a melthole in the frozen surface of a lake after the AUV’s dead-reckoning system brings the vehicle in the vicinity of the melthole. A blinking light source is used to guide the robot towards the melthole and through it. A light detection and tracking a...

Nowadays, the surveillance and inspection of underwater installations, such as power and telecommunication cables and pipelines, is carried out by trained operators who, from the surface, control a Remotely Operated Vehicle (ROV) with cameras mounted over it. This is a tedious, time-consuming and expensive task, prone to errors mainly because of loss of attention or fatigue of the operator and ...

This paper describes and presents preliminary experimental results from a novel prototype energy scavenging system installed in a model 2m cylindrical Autonomous Underwater Vehicle (AUV). The system, which is based on control moment gyroscope (CMG) principles, utilises the gyroscopic response of a gimballed flywheel mounted within an AUV body to generate energy from the wave induced rotational ...

The Autosub-la autonomous underwater vehicle (AUV) designed, built and operated by the Southampton Oceanography Centre is a medium endurance, multipurpose sensor platform designed for marine science studies of the upper ocean. With a specified range of 250 km, operating at 3.8 kt, and a diving depth capability of 500 m the vehicle has completed 179 engineering and science missions in UK coastal...

With the development of exploring and utilizing ocean source, Autonomous Underwater Vehicle (AUV) which could finish autonomous mission process is paid more and more attention. As an artificial intelligence system, AUV has high independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an important role in achieving those properties. A newly develope...

(AUV) applications. This paper presents the both problems with respect to a single beacon and an extension of the method for multiple AUV operation using relative location. The difficulties of this approach are due to the fact that a single range measurement does not completely constrain the beacon's position in the vehicle frame. In order to triangulate his position, the AUV need to maneuver w...