In this paper, we study the influence of the current on the selection of the cruise path of AUV (Autonomous Underwater Vehicle). We extended the current model into 3D space. According to this extended current model, we analyze AUV’s energy consumption under the affects of the water flow and compare it under different cruise paths. This study mainly focuses on the path optimization based on the ...

The long term goals of this research activity are to significantly increase the performance and affordability of small AUV systems by eliminating their need for expensive navigation equipment by providing exact position updates through an acoustic uplink system with a geographically positioned ASV. The mobile surface acoustic link shall also allow the AUV to communicate data while in transit an...

By simulating the geomagnetic fields and analyzing thevariation of intensities, this paper presents a model for calculating the objective function ofan Autonomous Underwater Vehicle (AUV)geomagnetic navigation task. By investigating the biologically inspired strategies, the AUV successfullyreachesthe destination duringgeomagnetic navigation without using the priori geomagnetic map. Similar to t...

The combined use of acoustic backscatter and bathymetric data generated by multibeam echo-sounders provides a powerful tool to investigate substrate characteristics at fine spatial scales across large areas. New methods are now required to assess the links between the identification of physical substrate classes from multibeam data with visually classified classes from AUV data. In this paper, ...

Autonomous underwater ve hicles (AUV’s) are increasingly used to collect physical, chemical, and biological information in the marine environment. Recent efforts include merging AUV technology with acoustic telemetry to provide information on the distribution and movements of marine fi sh. We compared surface vessel and AUV tracking capabilities under rigorous conditions in coastal waters near ...

The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance of underwater vehicles and thus provide solid guidelines during the design phase. The use of analytical and semi-empirical (ASE) methods to predict the hydrodynamic derivatives of the most popular class of AUVs is discussed. An applicati...

A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control syst...

This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV), using the H∞ approach for Linear Parameter Varying (LPV) polytopic systems. This method seems to be adapted to this kind of system because of the important non-linearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model of the AUV considered for the study, an ...

Software engineering plays a key role in state-of-the-art robots where more effective and efficient software development solutions are basically needed for implementation and integration of advanced robotics capabilities. Component-based software engineering and model-driven software development are two paradigms suitable to deal with such demand. This paper presents the analysis, design, and i...