Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is the precision of the AUV navigation capability. In this paper, we focus on understanding the limitation of the AUV navigation system. That is, what are the observable error-states for different maneuvering types of the AUV? Since analyzing the performance ...

As autonomous underwater vehicles (AUVs) enter operational service an assessment of their reliability is timely. Using the Autosub AUV as an example, several design issues affecting reliability are discussed, followed by an analysis of recorded faults. Perhaps contrary to expectations, failures rarely involved the autonomous nature of the vehicle. Rather, faults were typical of those that occur...

Mine Countermeasures (MCM) present a challenging motion planning problem when taking into account ocean currents, complex bathymetry, and vehicle dynamics. In an effort to improve autonomous underwater vehicle (AUV) motion planning for MCM, this work presents a Physical Traveling Salesmen Problem (PTSP) approach as a way to quickly and robustly generate motions for the reacquisition and identif...

Hydrodynamic coefficients strongly affect the dynamic performance of autonomous underwater vehicles (AUVs). A novel kind of underwater vehicle (Heavier-than-water AUV) with higher density than water is presented, which is different from conventional ones. RANS method and overlapping grids are used to simulate the flow field around the vehicle. Lifts, drags and moments of different attack and dr...

This paper deals with the robust control of an Autonomous Underwater Vehicle (AUV), using the H∞ approach for Linear Parameter Varying (LPV) polytopic systems. This method seems to be adapted to this kind of system because of the important non-linearities and the uncertainties on the hydrodynamics parameters. After the presentation of the nonlinear model of the AUV considered for the study, an ...

The paper describes the design and testing of the depth and heading autopilots for a small Autonomous Underwater Vehicle (AUV) named Maya. Control system design is done using the LQ (Linear-Quadratic) optimization technique based on a mathematical model of the AUV obtained by resorting to analytical and semi-empirical methods. Details of system implementation are given and the results of tests ...

This paper reports on the status and design of the operational remotely operated vehicle Victor 6000, rated for 6000 m depth and of the 3000 m depth autonomous underwater vehicle Asterxx operated by Ifremer the French Institute for Sea Exploitation. Victor 6000 is part of a global system built of subsystems, scientific modules, winch and cable, dead weight and umbilical, positioning subsystem u...

The Seamonkey, an Autonomous Underwater Vehicle (AUV), was designed and built by the Cornell University AUV team (CUAUV) to compete in AUVSI’s annual AUV competition. The 2006 Seamonkey represents an evolution from CUAUV’s 2005 design, yielding a more reliable and less complex vehicle. Features which have been successful in the past, such as its dual hull construction, brushless motors, and fle...