As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for the use of underwater vehicle systems has become more apparent. Underwater vehicles represent a fast-growing research area and promising industry as advanced technologies in various subsystems develop and potential application areas are explored. Great efforts have ...

For the coordination and control of robot behavior, behavior decision is the foundation and the determinant of robot intelligence. Based on autonomous underwater vehicle (AUV), through the analysis of domestic anti-surge technology research status and inrush current model, a control technology with the use of behavioural decision upper and lower piecewise integration control between PID and FPI...

This paper discusses the requirements, design and operational aspects of the Unmanned Marine Vehicles (UMVs), namely the Romeo Remotely Operated Vehicle (ROV) and the Charlie Unmanned Surface Vehicle (USV), developed at CNR-ISSIA, Genova, Italy for robotics research and scientific applications, pointing out the synergies between the development of underwater and surface unmanned vehicles.

At the Australian National University we are developing an autonomous underwater vehicle for exploration and inspection. Our aim is to develop on-board intelligent control. We intend that the vehicle will learn to control its thrusters in response to command and sensor inputs. Algorithms based on reinforcement learning with continuous state and actions are being developed for this purpose.

An underwater glider is a buoyancy-driven, fixedwing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback line...

This paper reports the initial results of an effort to develop simple and fast vision algorithms on compact and imoeddaDle hardware for the guidance and control of an autonomous underwater vehicle. The specific application involves tracking underwater cables and chains. Feature points are identified in the underwater video images using a technique which combines segmentation by gray level and r...

A control scheme for the coordinated control of a Sub-sea vehicle/manipulator system is presented. The unit quaternion representation is used in a singularity free representation of the attitude. The control scheme is formulated in a 12 d.o.f. task space and only position measurements are required. The performance is evaluated by simulation with a realistic model of a commercial underwater vehi...

This paper addresses the issue of guidance and control of an autonomous underwater vehicle (AUV) for a cable tracking problem. A linear quadratic Gaussian controller with loop transfer recovery (LQG/LTR) is developed because of its strong robustness properties. The vehicle is guided towards the target using a combination of different guidance algorithms. The vehicle speed is used to formulate t...

This paper presents an identification method for both off-line and on-line identification of non linear models of Unmanned Underwater Vehicles (UUVs). The proposed method can be applied to a quite general class of non linear multivariable models and is characterised by an excellent numerical performance, as illustrated through a simulated example. The validity of the proposed method is also dem...

In the paper a semiautomatic control system to steering of unmanned underwater vessel is considered. The fuzzy logic is incorporated for the keeping of desired orientation and two independent controllers are used to generate command signals. Input variables fuzzification, fuzzy rules and output set defuzzification are described. Quality of control is concerned for different surge speeds. Some c...