This paper proposes a liner active disturbance rejection control (LADRC) method based on the Q-Learning algorithm of reinforcement learning (RL) to six-degree-of-freedom motion an autonomous underwater vehicle (AUV). The number controllers is increased realize AUV decoupling. At same time, in order avoid oversize algorithm, combined with controlled content, simplified Q-learning constructed par...

The Phoenix autonomous underwater collaboration with other scientists interested in either vehicle (AUV) is a robot for student research in robot or virtual world. Repeated validation of shallow-water sensing and control (Figure 1). Phoenix simulation extensions through real-world testing is neutrally buoyant at 387 pounds (176 kg) with a hull remains essential. Details are provided on process ...

Recent progress in underwater robotics and acoustic communication has led to the development of a new paradigm in ocean science and technology, the Autonomous Ocean Sampling Network (AOSN). AOSN consists of a network of fixed moorings and/or autonomous underwater vehicles (AUV) tied together by state-of-the-art acoustic communication technology. The Generic Oceanographic Array Technology System...

When controlling dynamic systems, such as mobile robots in uncertain environments, there is a trade off between risk and reward. For example, a race car can turn a corner faster by taking a more challenging path. This paper proposes a new approach to planning a control sequence with a guaranteed risk bound. Given a stochastic dynamic model, the problem is to find a control sequence that optimiz...

Homing and navigation capabilities are essential in many Autonomous Underwater Vehicle (AUV) applications. This paper presents the both problems with respect to a single beacon. 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 maneu...

A sophisticated simulator provides a cost-effective measure to carry out preliminary mission testing and diagnostic while reducing potential failures for real life at sea trials. The presented simulation framework covers three key areas: AUV modeling, sensor modeling, and environment modeling. AUV modeling mainly covers the area of AUV dynamics. Sensor modeling deals with physics and mathematic...

Within 1857-1868 Narcis Monturiol developed the first Spanish submarine. Almost one hundred and fifty years later, a pioneer team of students of the University of Girona decided to design and develop an Autonomous Underwater Vehicle (AUV) to face the Student Autonomous Underwater Challenge – Europe (SAUC-E). Our robot, called ICTINEU, is the result of a multidisciplinary project involving under...

This paper presents an automated approach to correcting for colour inconsistency in underwater images collected from multiple perspectives during the construction of 3D structure-from-motion models. When capturing images underwater, the water column imposes several effects on images that are negligible in air such as colour-dependant attenuation and lighting patterns. These effects cause proble...