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...

The purpose of a data acquisition system is to provide reliable and timely information. The received information can be then analyzed in real-time or remotely to assess the state of the measured environment. Similarly, for an autonomous underwater navigation system it is critical to analyze the data received from the inertial measurement unit and other acoustic sensors to calculate its position...

This paper describes a feasibility study that is included with the research, development and testing of a micro communications sonobuoy deployable by Maritime Fixed wing Unmanned Aerial Vehicles (M-UAV) and rotor wing Quad Copters which are both currently being developed by the University of Adelaide. The micro communications sonobuoy is developed to act as a seamless communication relay betwee...

In recent years underwater robotics has become a major area of research owing to the development of many diverse technologies. Autonomous underwater vehicles (AUVs) are used today for exploration, pipeline monitoring, military reconnaissance and other scientific tasks. AUVs can also be used effectively to teach principles in many disciplines of science ranging from physics to robotics. Any good...

This thesis examines the design and implementation of a vision system for an autonomous underwater vehicle. The vision system consists of three cameras, two being a stereo pair, and the third being attached to a pan/tilt unit to allow it to track moving targets. The goals for the development of the vision system were to: • Design and build all of the hardware for the vision system. The main foc...

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...

We describe preliminary work toward applying a goal reasoning agent for controlling an underwater vehicle in a partially observable, dynamic environment. In preparation for upcoming at-sea tests, our investigation focuses on a notional scenario wherein a autonomous underwater vehicle pursuing a survey goal unexpectedly detects the presence of a potentially hostile surface vessel. Simulations su...

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 ...

There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental pro...

An autonomous underwater vehicle is supposed to find its trajectory, systematically. It can be obtained by using genetic programming for multi-criterion optimization of the set of alternative paths. For assessment of an underwater vehicle trajectory, three crucial criteria can be used: a total length of a path, a smoothness of a trajectory, and a measure of safety.