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Operating an autonomous underwater vehicle (AUV) in close proximity to terrain typically relies solely on the vehicle sensors for terrain detection, and challenges the manoeuvrability of energy efficient flight‐style AUVs. This paper gives new results on altitude tracking limits of such vehicles by using the fully understood environment of a lake to perform repeated experiments while varying the altitude...
For an AUV to perform a long-range mission with its maximum endurance, its energy consumption during transit must be kept to a minimum. This paper presents an improved cost function for a grid-based genetic algorithm (GA) path planning in 2D static environments. The proposed function consists of energy consumption terms that are estimated according to dynamics of a hover-capable AUV — notably Delphin2...
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