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The goal of this paper is to show how geometric control theory can be used to design efficient trajectories for an autonomous underwater vehicle descending into a basin, as well as performing its recovery after experiencing an actuator failure. The underwater vehicle is modeled as a forced affine connection control system, and the control strategies are developed through the use of integral curves...
Autonomous Underwater Vehicles (AUVs) need positioning systems different than the Global Positioning System (GPS), which does not work in underwater scenarios. A possible solution to this lack of GPS signal are the Simultaneous Localization and Mapping (SLAM) algorithms. SLAM algorithms aim to build a map while simultaneously localize the vehicle within it. These algorithms suffer from several limitations...
In this paper, we describe a cooperative architecture in which multiple Autonomous Underwater Vehicles (AUVs) cooperate to locate underwater targets. Each AUV is endowed with a sensor that estimates its distance with respect to targets, and cooperate with others to explore an area with the help of an autonomous surface vehicle (ASV) that stores the gathered information map and acts as a communication...
Doppler Velocity Logs (DVLs) have become increasingly popular as navigation tools on remotely-operated vehicles, autonomous underwater vehicles, and human-occupied vehicles for over a decade. Using acoustic measurements to capture bottom tracking velocity measurements, DVLs can provide updated velocities which can in turn be used to calculate distance traveled. Thus, DVLs can perform as fundamental...
This paper presents the development and testing of a synchronous one-way travel time (OWTT) navigation system for autonomous underwater vehicles (AUVs). Synchronous OWTT navigation is important for multiple vehicle applications as it preserves the range update rate independent of fleet size. The presented approach is based on the use of ranges generated by 13-bit acoustic messages and an a priori...
In AUV habitat mapping and exploration missions, a prior habitat map with associated uncertainty has the potential to guide the design of AUV deployments more effectively than a bathymetric map alone. We present and characterize an approach for learning predictive models of benthic habitats as a function of seabed terrain features. The models were learned by correlating limited-coverage high resolution...
Autonomous Underwater Vehicles (AUVs) are routinely being used to provide the scientific community with detailed ocean data at very reasonable costs. In typical operations, AUVs are programmed to follow pre-defined geo-referenced trajectories, while collecting the relevant information about the underwater environment, with a clear separation between navigation and payload sensors. Under the adaptive...
Autonomous underwater vehicles are commonly used for ocean exploration and this research illustrates one of their typical applications. Here, a practical mapping and sampling mission for the summit of the Loihi submarine volcano, a seismically active seamount southeast of the Island of Hawaii, is designed and simulated. Mapping the underwater volcano is safety-critical for monitoring earthquakes and...
Underwater target localization using several AUVs (Autonomous Underwater Vehicles) is a difficult issue. A systematic and exhaustive coverage strategy is not efficient in term of exploration time: it can be improved by making the AUVs share their information and cooperate to optimize their motions, dealing with the environmental changes and reducing the amount of redundant data. The contribution of...
A fuzzy approach is used for AUVs in this paper to avoid fixed or moving unknown obstacles. In this approach, the line of sight guidance is used. AUV travels towards a target without any collision with fixed or moving unknown obstacles. By considering experience, a fuzzy logic planner is used to generate steering commands for an AUV to avoid obstacles. Speed of the moving obstacle is considered as...
In recent years, adaptive and autonomous exploration of underwater plumes with autonomous underwater vehicles (AUVs) becomes a hot research topic, due to its significant applications. For the researches on AUV underwater plume exploring, design, optimization and validation of the control strategies and autonomous behaviors of the AUVs is the key issue. In order to study various control strategies...
Autonomous underwater vehicles (AUVs) that rely on dead reckoning suffer from unbounded localization error growth at a rate dependent on the quality (and cost) of the navigational sensors. Many AUVs surface occasionally to get a GPS position update. Alternatively underwater acoustic beacons such as long baseline (LBL) arrays are used for localization, at the cost of substantial deployment effort....
In this study, a novel robot control framework is presented for multiple autonomous underwater vehicles. In this framework, we incorporate sonar sensor data and integrated navigation system position data in a simulation environment, called UNBeatable-Sim, where complex control behaviors can be executed and analyzed. UNBeatable-Sim is developed by the COllaboration Based Robotics and Automation (COBRA)...
Over the past decades, the design and development of mission based Autonomous Underwater Vehicle (AUV) continues to challenge researchers. Although AUV technology has matured and commercial systems have appeared in the market, a generic yet robust AUV command and control (C2) system still remains a key research area. This paper presents a command and control system architecture for modular AUVs. We...
Autonomous Underwater Vehicles are a leading technology for under-ice deployment and research. Memorial University and its Explorer AUV, in cooperation with the University of Tasmania and the Australian Antarctic Division, has embarked on a multi-phase development program that will lead to a scientific mission in the Australian Antarctic. Completion of Phase I saw the AUV deployed in the Canadian...
We developed a novel, multiple vehicle extension to a typical, single vehicle chemical plume source localization algorithm. The approach is implemented and tested in MATLAB®. We discuss simulations results to assess the potential of using the multiple vehicle approach. It occurs that there can be an advantage from using multiple vehicles.
This paper considers offline algorithms for pre-mission path planning to achieve coverage of the seabed of a complex but well-characterised planar area using an autonomous underwater vehicle fitted with side-looking sonar. The vehicle can swim over terrain at constant altitude, but must follow a path constructed from straight line segments. Imagery collected during turns is not used. This paper discusses...
In recent years, ocean scientists have started to employ many new forms of technology as integral pieces in oceanographic data collection for the study and prediction of complex and dynamic ocean phenomena. One area of technological advancement in ocean sampling if the use of Autonomous Underwater Vehicles (AUVs) as mobile sensor platforms. Currently, most AUV deployments execute a lawnmower-type...
Today a large number of autonomous underwater vehicles (AUVs) are evaluated or operated all over the world. Most of them use their own control systems created by the vehicle's manufacturer or scientists of different research areas. The Fraunhofer Application Center System Technology currently owns three underwater vehicles (both AUVs and remotely operated vehicles, ROVs), a forth is under development...
This paper discusses the autonomy framework proposed for the mobile instruments such as Autonomous Underwater Vehicles (AUVs) and gliders. Paper focuses on the challenges faced by these clusters of mobile platform in executive tasks such as adaptive sampling in the hostile underwater environment. Collaborations between these mobile instruments are essential to capture the environmental changes and...
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