Various forms of Autonomous Underwater Vehicles (AUVs) have evolved to solve different subsea mission requirements, these can be loosely grouped into two types: torpedo style AUVs and hovering AUVs. Torpedo AUVs were initially developed to be launched from torpedo tubes and consequently resemble torpedoes with a propeller and control surfaces at the rear, these vehicles have poor slow speed man...

In this paper, a tracking controller is proposed to navigate the autonomous underwater vehicle (AUV) within a specific region with known constant input delay. The unit quaternion representation is used for attitude control to avoid singularity problem encountered with Euler Angles. However, compensation of actuator delay is a challenging problem to handle with the nonlinear dynamics of an AUV. ...

One of the challenges for model prediction and validation is providing them with data of appropriate spatial and temporal resolution. The maturation and increased application of autonomous underwater vehicles (AUVs) in aquatic environments allows systematic data collection on these model-relevant scales. The goal of this study was to apply a fine-scale circulation and transport model (Delft3D) ...

In September 2007 on RRS Discovery, the Autosub6000 Autonomous Underwater Vehicle (AUV) completed its first deep water engineering trials, and less than a year later, fitted with a multibeam bathymetric mapping sonar, carried out its first science missions, as part of a geology and geophysics science cruise onboard the RRS James Cook to investigate potential geo-hazards (such as tsunami generat...

Purpose We investigate the observability properties of the process of simultaneous localization and mapping of an Autonomous Underwater Vehicle (AUV), a challenging and important problem in marine robotics, and illustrate the derived results through computer simulations and experimental results with a real AUV. Design/methodology/approach We address the single/multiple beacon observability anal...

Development of autonomous underwater vehicles (AUVs) which meets the design constraints and provides the best hydrodynamic performance is really an important challenge in the field of hydrodynamics. In this paper a new profile is used for designing the hull of AUVs. The nose and tail profiles of an AUV using presented profile is designed such that it can properly consider the length constraints...

An autonomous underwater vehicle (AUV) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. Design, hydrodynamic analysis, modeling, fabrication, navigation, and control of this novel AUV is the main goal of this research. Detailed explanation of the test and experiment with a brief overview on fabrication are provide...

One approach for creation of a graphical environment for AUV mission programming and veriication is described in the paper. It is based on a Petri net theory. The results of the AUV mission programming and veriication using the graphical environment are supplemented.

The dynamic characteristics of autonomous underwater vehicles (AUVs) present a control problem that classical methods cannot often accommodate easily. Fundamentally, AUV dynamics are highly non-linear, and the relative similarity between the linear and angular velocities about each degree of freedom means that control schemes employed within other flight vehicles are not always applicable. In s...