Intervention AUV

About: Intervention AUV is a research topic. Over the lifetime, 980 publications have been published within this topic receiving 14130 citations.

Light duty works performed by an underwater vehicle

Abstract: Nowadays, many kinds of underwater vehicles are applied to study various marine research fields. Generally, they are broadly classified into three categories, manned underwater vehicles (MUVs), remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). MUVs and ROVs can perform diverse and complicated works because not only they are controlled by people but they are often equipped with manipulators. Meanwhile, AUVs are applied to survey the seafloor topography because they are capable of cruising autonomously for a long time. In fact, MUVs and ROVs are identified as the “working” vehicle and AUVs are identified as the “cruising” vehicle. So, we promote the development of a “working AUV” which can perform light duty works. In this paper, its outline and some technologies applied to it are described.

Design and development of multi-input sensor algorithm for autonomous underwater vehicle (auv) applications

Abstract: Autonomous Underwater Vehicles (AUVs) are robotic submarines that are a part of the emerging field of autonomous and unmanned vehicles. 1bis project is to design and develop a multi-input algorithm of sensors for Autonomous Underwater Vehicle (AUV) applications which is having high performance automated detection and monitoring on underwater application or for surveillances and defense application. The monitoring and detection will be based on multi-input received from the intelligent and active vision and sensors implemented in the AUV. The sensors implemented in AUV such as vision system, hydrophone system and sonar system. The new design of vision system for AUV with the implementation of wireless camera, whereby, produce clearer image. The ultrasonic sensor is a main device to transmit and receive the signal from the obstacle. The ultrasonic sensor will be combined to the ultrasonic circuit. Hydrophone is an underwater microphone which with the help of pressure impulses of acoustic waves converts them into electrical signals which in further are used for communication. It was designed to be used underwater for recording or listening to underwater sound.

Cooperative navigation for multiple autonomous underwater vehicles based on two hydrophones

Abstract: Cooperative navigation of multiple autonomous underwater vehicles(MAUVs) is the key problem for underwater group missionsAn algorithm based on acoustic modem for MAUVs is presentedIn the master-slaver structure,the master AUV is equipped with high precision navigation system,and the slaver AUV is equipped with low precision navigation systemThe slaver AUV is equipped with acoustic device to measure the relative distance and azimuth angleAdditionally with the accurate position of master AUV,an algorithm is designed,which fuses the proprioceptive and exteroceptive sensorsThe research results prove that the navigation accuracy is improved effectively by using the cooperative navigation and localization method

State estimation and fix of an AUV in real time

Abstract: The GESMA is working on a research project to increase the autonomy of an autonomous underwater vehicle (AUV) in order to realize a complete and important mission without human support. So that the AUV can know its position with precision, two modules are developed. The first one is a state estimator which fuses the data coming from traditional navigation sensors (Doppler, echo-sounder, motion reference unit). The limit of this module concerns the impossibility of carrying out long time missions because of the drift in position which becomes too large after a few minutes or a few hours. We thus added a second module, a state generator which uses the data coming from the sonars and a feature map database to make a fix.