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...

The paper considers control of an autonomous underwater vehicle (AUV) with a reduced number of actua-tors. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. A continuous periodic time-varying feedback law is presented. It is shown that it exponentially stabilizes the total AUV model using only four actuators. Furthermore, it is shown that if the hydrodynami...

Currently a platform to investigate the underwater environment is required. In this paper, we propose an autonomous underwater vehicle (AUV) with an accurate positioning system. The positioning system is developed to be accurate enough to utilize the superior navigation ability of our AUV feature. The navigation ability is acquired by the variable vector propeller mechanism. The accurate positi...

In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...

The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment...

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...

Modern autonomous underwater vehicle (AUV) research is moving towards multi-agent system integration and control. Many university research projects, however, are restricted by cost to obtain even a single AUV platform. An affordable, robust AUV design is presented with special emphasis on modularity and fault tolerance, guided by previous platform iterations and historically successful AUV desi...

An adaptive neural network controller for autonomous underwater vehicles (AUVs) is presented in this paper. The AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. In this regards, a nonlinear neural network is used to approximate the nonlinear u...

Drag analysis is vital to measure the performance of the autonomous underwater vehicle (AUV) as well as the AUV thruster. Most of the previous drag studies is regarding to the shape and swimming method that contribute to the AUV performance. However, few attention was given on drag which influence the development of thruster. Hence, this research was conducted to analyze the drag of the micro A...