recently, data collection from seabed by means of underwater wireless sensor networks (uwsn) has attracted considerable attention. autonomous underwater vehicles (auvs) are increasingly used as uwsns in underwater missions. events and environmental parameters in underwater regions have a stochastic nature. the target area must be covered by sensors to observe and report events. a ‘topology cont...

Underwater navigation and localization using single range measurements presents low–cost alternative to well established underwater localization systems. In this paper, single range localization with respect to stationary and mobile beacon is presented. Also, observability properties of single range localization systems are given and vehicle trajectories which ensure observability are character...

A manoeuvring model and a design technique for path following applications of underactuated underwater vehicles are summarized. The model applies to slender body autonomous underwater vehicles (AUV) of cylindrical shape employing similar types of steering and diving control surfaces, and is meant for low speed manoeuvring applications. The underactuated design procedure used to successfully sol...

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate ...

Significant advances in various relevant science and engineering disciplines have propelled the development of more advanced, yet reliable and practical underwater vehicles. A great array of vehicle types and applications has been produced along with a wide range of innovative approaches for enhancing the performance of unmanned underwater vehicle (UUV). These recent advances enable the extensi...

Navigation is one of the most critical factors in determining the operational suitability of any unmanned vehicle for its designated environment. In fully autonomous vehicles, due to the lack of a human operator to perform the navigation task, there is a fundamental requirement to incorporate estimation techniques that can provide the desired information necessary for navigation. Such informati...

In this paper, we study time-optimal trajectories for fully actuated planar underwater vehicles, with constraints on input forces. Using the Maximum Principle, we focus on the structure of singular extremals and their possible optimality.

Autonomous Underwater Vehicles (AUVs) are powerful tools for exploring, investigating and managing our ocean resources. As the capabilities of these platforms continue to expand and they continue to mature as operational assets, navigation remains a fundamental technological component. This chapter presents a road map for the vehicle designer to aid in integrating the latest navigation methods ...

This paper designs an underwater acoustic communication system based on tamed spread spectrum and Frequency Hopping Multiple Access (FHMA) for multiple underwater vehicles. In this system, multiple underwater vehicles can communicate with the console on the water surface simultaneously successfully. The communication system is composed of tamed spread spectrum modulation and demodulation, frequ...

This paper describes the design of an underwater acoustic communications system for multiple underwater vehicles, based on frequency-hopping multiple-access (FHMA) and tamed spreadspectrum communications. The system makes used of the tamed spread-spectrum method, frequency hopping, 4FSK, and a rake receiver. In order to make the system more practical, the underwater channel and the effect of th...