This paper presents a new tracking control scheme for an underwater vehicle-manipulator system (UVMS). The proposed task space passivity based controller is not only used to track the given desired path but also allows the use of the self-motion of the vehicle to perform power efficient trajectory because of its kinematically redundant nature. In the proposed scheme, the primary task is to trac...

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and .orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of...

This paper describes the capability, design and application of the generic underwater warfare simulation environment ODIN. The model was developed by QinetiQ, previously DERA (Defence Evaluation and Research Agency), to model the detailed underwater interaction between surface ship/submarine/UUV (Unmanned Underwater Vehicle) platforms, torpedoes and countermeasures. It was originally developed ...

The development of precise and robust navigation strategies for Autonomous Underwater Vehicles (AUVs) is fundamental to reach the high level of performance required by complex underwater tasks, often including more than one AUV. One of the main factors affecting the accuracy of AUVs navigation systems is the algorithm used to estimate the vehicle motion, usually based on kinematic vehicle model...

Underwater vehicle-manipulator (UVM) systems have been suggested for inspection, maintenance, repair and construction of underwater structures. The addition of manipulators to the vehicle makes control of the system more difficult due to the interaction forces between vehicle and manipulator. So, the efficient compensation of those interactions should be considered for accurate control of both ...

This paper presents the advanced sonar sensor model capable of building an underwater terrain map based on the Bayes filter in the manner of the occupancy grid. The proposed sonar sensor model basically considers the losses of received ultrasound intensity according to the underwater absorption and reflection on a terrain surface. The Bayes filter including the advanced sonar sensor model is ap...

There are many harmful marine organisms, such as starfishes, in underwater environments. Underwater task to eliminate such organisms by divers is dangerous and inefficient. This paper proposes a novel remotely operated vehicle (ROV) platform for a robotic application to capture harmful marine organisms. The proposed underwater robotic platform has four rotatable thrusters for hovering motion ag...

This paper presents a six-degrees-of-freedom controller for autonomous underwater vehicles. The control algorithm is adaptive in the dynamic parameters that are poorly known and time-varying in the underwater environment. Moreover, the proposed control law adopts quaternions to represent attitude errors, and thus avoids representation singularities that occur when using instead Euler angles des...

An indirect adaptive control for an autonomous underwater vehiclemanipulator system (UVMS) based on an extended Kalman filter (EKF) is presented in this paper. This method overcomes the disadvantages of existing disturbance observers and direct adaptive control schemes, which are designed or analyzed by linear system techniques and regressor-based techniques. The proposed control scheme can be ...

Aiming at high overshoot and steady-state error in fuzzy controller of underwater vehicles, a new method based on data mining technique was presented. Apply Boolean association rule data mining to mine the polling list of fuzzy control from the database of manual operation record, and simulation and outfield experiments were carried out on Super Mohawk underwater vehicle to verify the feasibili...