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Autonomous Underwater Vehicles (AUVs) are in high demand within the offshore industry and maritime research, mainly used for bathymetry and data acquisition. The control architectures of these AUVs mimic this primary function by focusing on strict mission plans as these kind of application require, thus reducing the need for direct sensor reaction to emergency situations. The emerging needs for more...
Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based...
In March and April 2010, an ISE Explorer Autonomous Underwater Vehicle (AUV), built for Natural Resources Canada (NRCan), was deployed to Canada's high Arctic. Its mission was to undertake under-ice bathymetric surveys in support of Canada's submission to establish the outer limits of its continental shelf under the United Nations Convention on the Law of the Sea (UNCLOS). During this deployment several...
Due to its significant potential applications, underwater chemical plume exploration and source localization via an autonomous underwater vehicle (AUV) is currently a hot subject both in AUV and oceanic engineering research communities. Chemical plume including buoyant stem and non-buoyant part such as deep-sea hydrothermal plume is a typical dynamic 3D feature in the ocean environment; therefore,...
This paper presents an intelligent decision algorithm and an on-board architecture designed to enable an autonomous underwater vehicle (AUV) to carry out a survey mission autonomously. The connotation of global model in decision algorithm is analyzed, including environment information, mission information and Self-states of AUV. The survey mission of multi-objective operation areas in an unsafe zone...
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TC-PF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at pre-assigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival is not fixed a priori, and the vehicles...
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