Intervention AUV

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

Development of a Hovering AUV for Underwater Explorations

Abstract: This paper describes the design and development of a hovering AUV constructed at Cheju National University and analyses the dynamic performance of the vehicle using simulation programs. The main purpose of this AUV is to carry out fundamental tests in its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general ROV appearance for underwater works and its dimensions are 0.75m*0.5m*0.5m. It has 4 thrusters of 450 watts for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an appropriate environment for developing various algorithms needed for developing and advancing Hovering AUV.

A distributed motion control system for the CRANGER Autonomous Underwater Vehicle

Abstract: With applications in the academic, military, and maintenance in oil industrial Autonomous Underwater Vehicles (AUVs) are increasing important. AUV is a kind of complicated equipment, its motion control is extremely crucial. At present, centralized control method used by most AUVs share many deficiencies: complex controller, large computation, difficulties in system maintenance and upgrading, etc. This paper presents a distributed motion control System for our multi-thruster AUV platform C-RANGER. It includes the distributed architecture and algorithm. Simulation proved that the proposed control algorithm and AUV platform work well.

Modellierung, Regelung und Navigation von Teilautonomen, Ferngesteuerten Unterwasserfahrzeugen (Modelling, Control and Navigation of Semiautonomous, Remotely Operated Underwater Vehicles)

Abstract: Die Führung von Unterwasserfahrzeugen stellt erhebliche Ansprüche an die einzusetzenden Algorithmen. Die Schwierigkeiten liegen im nichtlinearen Systemverhalten des Fahrzeugs, der aufwendigen Positionsermittlung, der robusten Auslegung des Autopiloten sowie der übersichtlichen Darstellung der eingehenden Informationen für den Operator.

Problems of creating intelligent autonomous robotic underwater vehicles and their application

Abstract: Basic scientific and applied tasks to be accomplished by autonomous robotic underwater vehicles are considered, and distinctive features of their control system are analyzed. Some unsolved fundamental problems in this subject are formulated.