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Unmanned underwater vehicles have various missions within civilian, military and academic sectors. They have the ability to explore areas unavailable to manned assets and to perform duties that are risky to humans. In particular, UUVs have the ability to perform bearings-only tracking in shallow areas near shorelines. This article compares a Logarithmic Polar Coordinates EKF (LPC-EKF) and Logarithmic...
The architecture has always been one of the key aspects for designing an unmanned underwater vehicle. The architecture should serve as an aid, not a burden, in the integration of modules that have been developed independently, so it must not be overly restrictive. In this article, three types of architectures (deliberative, reactive, and hybrid architecture) are reviewed. Then the criteria for evaluating...
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