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Accurate position estimation is a key factor in any Autonomous Underwater Vehicle (AUV) mission. Generally, Inertial Navigation System which estimates the position and orientation by means of dead reckoning are employed by AUVs to provide location information. Inertial navigation is most accurate when the vehicle is traveling close to the sea bottom and the Doppler Velocity Log can acquire a bottom...
For an intelligent autonomous underwater system to interact with its environment, it needs to achieve a navigation solution as accurate as possible. Traditional dead reckoning approach can only achieve a low drift error; therefore, the position accuracy monotonically decreases with distance traveled. Approaches such as simultaneous localization and mapping (SLAM) and sharing location information between...
Autonomous underwater vehicles (AUVs) operate in unknown underwater environments and must be able to avoid submerged obstacles such as cliffs, wrecks, and seabed changes. This paper proposes a methodology for obstacle avoidance by AUVs that are equipped with forward-looking sonars (FLSs). The data collected from two FLSs placed in horizontal and vertical orientation are processed in real time to provide...
This paper presents a tracking algorithm of an Autonomous Underwater Vehicle (AUV) using an Autonomous Surface Vehicle (ASV) equipped with a ranger interrogator system. Worldwide, there has been increasing interest in the use of ASVs to execute missions of increasing complexity without direct supervision by human operators. A key-enabling element for the execution of such missions is the availability...
This paper presents a solution to the trajectory-tracking control problem of an Autonomous Surface Vehicle (ASV) under the effect of sea waves. Worldwide, there has been increasing interest in the use of ASVs to execute missions of increasing complexity without direct supervision of human operators. A key-enabling element for the execution of such missions is the availability of advanced systems for...
Non-linear controllers for attitude, altitude, and position of a Hovering Autonomous Underwater Vehicle (HAUV) non-linear model are presented The controllers allow the vehicle to reach any desired point in the horizontal and vertical planes. The controllers were applied to a small-sized, torpedo-shaped HAUV with six degrees of freedom The coupling between attitude and position makes the trajectory...
Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles and to adapt to changes in the ocean floor terrain. A typical mission for an AUV is to inspect a given area using a side scan. It is crucial to maintain a straight line...
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