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...

A neural network model reference adaptive controller for trajectory tracking of nonlinear systems is developed. The proposed control algorithm uses a single layer neural network that bypasses the need for information about the system’s dynamic structure and characteristics and provides portability. Numerical simulations are performed using nonlinear dynamic models of marine vehicles. Results ar...

This paper presents a reactive/local level of an Obstacle Avoidance System for an Autonomous Underwater Vehicle (AUV). The specific requirements of the underwater world, the computational capacity and the sensors of the vehicle as well as its manoeuvrability were considered by the choice and the development of strategies used. Such requirements include the sea current information, the considera...

{ Diierent sensing techniques have been used for a long time in the development of remote operated vehicles (ROVs) and, in the recent years, autonomous underwater vehicles, (AUVs). Sonar has been the most popular choice in what concerns depth information or obstacle detection in most of the existing systems. Vision, however is a powerful sensing modality and could be used in many tasks where ac...

This paper proposes the result of hardware in the loop simulation (HILS) for performance evaluation about a small attitude heading reference system (AHRS) based micro electro mechanical system (MEMS) suitable for small unmanned underwater vehicle. Unmanned underwater vehicles (UUV) have many applications in scientific, military, and commercial area due to its autonomy and the navigation system ...

Surveillance missions for multiple autonomous underwater vehicle (AUV) system suggest the use of different modes of operation including organizing and keeping a predefined formation, avoiding obstacles, reaching static and tracking dynamic targets. While exploiting a leader-follower strategy to formation control and the vector Lyapunov function method to controller design, we use discrete-event...

A key component of an autonomous underwater vehicle (AUV) is the navigation system. It is important for navigating the vehicle but it is also vital for being able to utilize the data collected during a mission. This paper presents the main challenges faced when designing reliable underwater navigation systems, and outlines a framework for detecting and isolating sensor faults using a bank of Ka...

Reinforcement learning uses a scalar reward signal and much interaction with the environment to form a policy of correct behavior. We have applied this technique to the problem of developing a controller for an autonomous underwater vehicle and have achieved reliable off-line development of stable controllers. Many important underwater tasks rely upon on visual observation of underwater feature...

The Norwegian Experimental Remotely Operated Vehicle (NEROV) is described. The vehicle is designed and built at the Department of Engineering Cybernetics , The Norwegian Institute of Technology (NTH). The NEROV vehicle is an unmanned autonomous underwater vehicle (AUV) especially designed for testing advanced intelligent and conventional control algorithms. The vehicle is autonomous with respec...