This paper describes the experimental implementation of an online algorithm for cooperative localization of submerged autonomous underwater vehicles (AUVs) supported by an autonomous surface craft. Maintaining accurate localization of an AUV is difficult because electronic signals, such as GPS, are highly attenuated by water. The usual solution to the problem is to utilize expensive navigation ...

This paper reports the development of a new remotely operated underwater vehicle (ROV) designed to serve as a platform for rapid development and deployment of novel underwater vehicle systems. The goal is to enhance our ability develop new underwater vehicle subsystems in the laboratory, and rapidly field-test these new systems. Although a significant fraction of ONR and NSF sponsored underwate...

Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary finding...

This paper presents two acoustic-based techniques to solve the localization problem for an autonomous underwater vehicle (AUV). After a brief description of the Bayesian filtering framework, the paper analyses two of the most common underwater scenarios. Each scenario corresponds to one of the two localization techniques. The scenarios are as follows: map-based localization, when the environmen...

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...

This paper presents the trajectory tracking control of an autonomous underwater vehicle (AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties. Stability of...

This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (AUV). The development includes the physical limitations of the rudder that involve more constraints for the control that has a limited action and implies to reduce the gain loop of the controller. The whole system is simulated in simulink and three different control...

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 the development of a fuzzy autopilot for controlling the non-linear yaw dynamics of an autonomous underwater vehicle (AUV) model. The autopilot design is based on a new approach that uses a Gaussian fuzzy inference mechanism. For the design study, the AUV model is hosted in the MATLAB/Simulink environment. Simulation results are presented which illustrate the potential of t...

A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control syst...