The use of an autonomous surface vehicle as an auxiliary agent to improve connectivity in a network of autonomous underwater vehicles is investigated. An algorithm is developed that consists of an optimal waypoint generator and a minimum-time guidance law that is used to steer the vehicle to the waypoint. This algorithm is used together with a communication architecture to improve underwater ve...

Development of autonomous underwater vehicles (AUVs) which meets the design constraints and provides the best hydrodynamic performance is really an important challenge in the field of hydrodynamics. In this paper a new profile is used for designing the hull of AUVs. The nose and tail profiles of an AUV using presented profile is designed such that it can properly consider the length constraints...

The use of an autonomous surface vehicle as an auxiliary agent to improve connectivity in a network of autonomous underwater vehicles is investigated. An algorithm is developed that consists of an optimal waypoint generator and a minimum-time guidance law that is used to steer the vehicle to the waypoint. This algorithm is used together with a communication architecture to improve underwater ve...

in the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. in this study, hydrodynamic coefficients of an autonomous un...

This paper describes the application of geometric bounding techniques to range-only navigation of an underwater vehicle. A geometric technique is defined to obtain a position fix of an underwater vehicle using a combination of dead-reckoning navigation and acoustic measurements of range between the underwater vehicle and a GPS equipped ship. An assessment is made of the accuracy to which naviga...

This paper describes a control system for the kinematic variables of an underwater vehicle. Control of underwater vehicles is not simple, mainlys due to the nonlinear, coupled and unknown character of system equations and dynamics. The proposed methodology makes use of a pioneering algorithm implemented for the first time in an underwater vehicle, and it is based on the fusion of a sliding mode...

The applications of underwater vehicles have shown a dramatic increase in recent years, such as, mines clearing operation, feature tracking, cable or pipeline tracking and deep ocean exploration. According to different applications, the mechanical and electrical configuration and shape of an underwater vehicle are different. For instance, manipulators are necessary when doing mines clearing ope...

in this paper, an integration of improve particle swarm optimization (ipso) incombination with successive quadratic programming (sqp) so called ipso-sqpalgorithm is proposed to solve time optimal bang-bang control problems. theprocedure is found not sensitive to the initial guess of the solution. due to randomselection in the first stage of the search process, the chance of converging to theglo...

In this paper, intelligent guidance and control laws are developed for an autonomous underwater vehicle to engage underwater targets. The engagement of underwater targets is suffered from uncertainties of the complicated underwater environment, short detecting range of the sonar seeker, the low speed ratio between vehicle and target, and longtime operations but no accurate positioning technique...

In the world of underwater robotics, fish-like structures are able to accelerate and maneuver better than most other artificial underwater vehicles. For these reasons, fish-like robots are well suited for submarine exploration tasks. However, a complete understanding of mechanisms governing the swimming movements of fish-like robots remains elusive, limiting the performance of such underwater r...