Intervention AUV

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

Guidance and control of a biomimetic autonomous underwater vehicle using body-fin propulsion

Abstract: Autonomous underwater vehicles (AUVs) with rigid hulls and powered by rotary propellers have problems such as inefficient propulsion, difficulties associated with positioning, limited turning agility and imprecise hovering. Recently, research and development into biomimetic AUVs (BAUVs) have accelerated in order to solve the problems of the propulsion of AUVs by propellers. A testbed BAUV is being developed. A local control law that coordinates body angles by periodically alternating the position of the centre-of-mass in local coordinates is developed. Three parameters are found to suffice to coordinate joint angles in carangiform swimming. A global control law is then developed for solving the waypoint tracking problem. The effectiveness of this method is evaluated using computer simulation. The control performance of the BAUV system with model uncertainties for waypoint tracking under the influence of disturbances is also discussed.

Underwater Vehicle for Surveillance with Navigation and Swarm Network Communication

Abstract: Autonomous Underwater Vehicles (AUVs) have gained more popularity in recent years for military as well as civilian applications. One potential application of AUVs is for the purpose of undersea surveillance. As research into underwater surveillance using AUVs progresses, issues arise as to how an AUV acquires acts on, and shares information about the underwater battle space. These issues naturally touch on aspects of vehicle autonomy and underwater communications, and need to be resolved through a spiral development process that includes experiments at sea. This paper presents an implementation of swarm network communication for AUVs which is used to transfer the data, to communicate with one another to perform tasks as an intelligent group including surveillance. When a task identified from a seafloor, a single AUV could follow that task and report the whereabouts. Other vehicles in the swarm could track additional individuals, produce detailed maps of the area, detect AUV updates to a distant command post. As individual AUV leave the swarm to fulfill their assigned tasks, the swarm could autonomously reorient itself. This reduces the inspection duration and inspection cost for underwater vehicle. This paper has described the on-board signal processing including a navigation and network communication which were successfully implemented. The vehicle is designed and simulation is studied in computer analysis as per the required parameters and condition. The Simulation of swarm network communication and navigation multi-path trajectory is performed.

AUV (Redermor) Obstacle Detection and Avoidance Experimental Evaluation

Abstract: Autonomous underwater vehicles (AUV) are expected to perform survey missions in both known and unknown environments. While the primary mission of an AUV is data collection, generally achieved with a sidescan sonar or a multibeam echosounder, another key task is to guaranty its own security. This paper deals with the problem of obstacle detection and avoidance by means of a forward looking sonar (FLS) mounted on the GESMA Redermor experimental AUV.

Stereo Graph-SLAM for Autonomous Underwater Vehicles

Abstract: The increasing use of Autonomous Underwater Vehicles (AUV) in industrial or scientific applications makes the vehicle localization one of the challenging questions to consider for the mission success. Graph-SLAM has emerged as a promising approach in land vehicles; however, due to the complexity of the aquatic media, these systems have been rarely applied in underwater vehicles. The few existing approaches are focused on very particular applications and require important amounts of computational resources, since they optimize the coordinates of the external landmarks and the vehicle trajectory, all together. This paper presents a simplified and fast general approach for stereo graph-SLAM, which optimizes the vehicle trajectory, treating the features out of the graph. Experiments with robots in aquatic environments show how the localization approach is effective underwater, online at 10 fps, and with very limited errors. The implementation has been uploaded to a public repository, being available for the whole scientific community.

The state of art of Autonomous Underwater Vehicles in current and future decades

Abstract: As the need and applications of Autonomous Underwater Vehicles (AUVs) increase day by day, the research on AUVs become a popular and important topic now a days. A good number of publications are available periodically. Unfortunately till now a review report on current status of the works done on AUVs is hard to find in literature. This paper presents a comprehensive survey on recent works done on AUVs and its applications in real life. Scientific researches on AUVs and the great achievements in India and abroad are presented. A brief history of chronological development of technologies of AUVs is established. A note on possible directions and works may be done in future is also mentioned. This is paper is intended to serve as an immense reference for the future researchers working in the field of AUV.