Nowadays, a lot of attention is given to autonomous underwater exploration. To reduce the time of such explorations groups of networked underwater vehicles are used. The implementation of such communication is rather problematic because of low messag...
The twin hybrid autonomous underwater vehicle (THAUV) is a novel type of unmanned underwater platform that consists of a twin torpedo-shaped hull and is actuated by two buoyancy engines and two thrusters proposed in this paper. The THAUV was designed...
Human intelligence has the advantage for making high-level decisions in the remote control of underwater vehicles, while autonomous control is superior for accurate and fast close-range pose adjustment. Combining the advantages of both remote and aut...
Autonomous underwater vehicle is an effective tool for humans to explore the ocean. It can be used for the monitoring of underwater structures and facilities, which puts forward more accurate and stable requirements for the system operation of the au...
Since the development of the first autonomous underwater vehicles, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations, in addition to surveys....
High-precision positioning capability is a crucial technology for achieving accurate navigation in autonomous underwater vehicles (AUVs). However, due to severe electromagnetic wave attenuation underwater and the unavailability of the global position...
This paper focuses on safe navigation of an unmanned surface vehicle in proximity to a submerged autonomous underwater vehicle so as to maximise short-range, through-water data transmission while minimising the probability that the two vehicles will...
Underwater unmanned vehicles are complementary with human presence and manned vehicles for deeper and more complex environments. An autonomous underwater vechicle (AUV) has automation and long-range capacity compared to a cable-guided remotely operat...
The Autonomous Underwater Vehicle (AUV) is capable of autonomously conducting underwater cruising tasks. When combined with docking operations, the AUV can replenish its electric power after long-distance travel, enabling it to achieve long-range aut...
In this paper, an adaptive depth and heading control of an autonomous underwater vehicle using the concept of an adaptive neuro-fuzzy inference system (ANFIS) is designed. The autonomous underwater vehicle dynamics have six degrees of freedom, which...
This research aims to solve the safe navigation problem of autonomous underwater vehicles (AUVs) in deep ocean, which is a complex and changeable environment with various mountains. When an AUV reaches the deep sea navigation, it encounters many unde...
Autonomous underwater vehicles (AUVs) have been applied in various scientific missions including oceanographic research, bathymetry studies, sea mine detection, and marine pollution tracking. We have designed and field-tested in the ocean a backseat...
This paper introduces a novel energy-efficient lightweight, void hole avoidance, localization, and trust-based scheme, termed as Energy-Efficient and Trust-based Autonomous Underwater Vehicle (EETAUV) protocol designed for 6G-enabled underwater acous...
Real-time command and data transfer are essential for autonomous underwater vehicle (AUV) motion control in underwater missions. Due to the limitations of underwater acoustic communication, which has a low data rate, this paper introduces a new contr...
In this study, underwater recognition technology and a fuzzy control system were adopted to adjust the attitude and revolution speed of a self-developed autonomous underwater vehicle (AUV). To validate the functionality of visual-recognition control,...
This study aims to solve the issue of the safe navigation of autonomous underwater vehicles (AUVs) in an unknown underwater environment. AUV will encounter canyons, rocks, reefs, fish, and underwater vehicles that threaten its safety during underwate...
Unmanned aerial vehicles (UAV) are increasingly becoming a popular tool in the observation and study of marine mammals. However, the potential capabilities of these vehicles regarding autonomous operations are not being fully exploited for passive un...
Docking technology for autonomous underwater vehicles (AUVs) involves energy supply, data exchange and navigation, and plays an important role to extend the endurance of the AUVs. The navigation method used in the transition between AUV homing and do...
This paper introduces the localization method of an Autonomous Underwater Vehicle (AUV) in environments (such as harbors or ports) where there can be passing ships near the AUV. It is assumed that the AUV can access the trajectory and approximate sou...
A new vertical axis-symmetrical dish-shaped autonomous underwater vehicle (AUV) with excellent maneuverability, known as the autonomous underwater hovering vehicle (AUH), is proposed. This study investigates an important working model of the AUH appr...
This paper has addressed the terrain-following problem of an autonomous underwater vehicle for widely used ocean survey missions. Considering the terrain feature description with limited sensing ability in underwater scenarios, a vertically installed...
Undersea terrain and resource exploration missions using autonomous underwater vehicles (AUVs) require a great deal of time. Therefore, it is necessary to monitor the state of the AUV in real time during the mission. In this paper, we propose an onli...
To achieve persistent systems in the future, autonomous underwater vehicles (AUVs) will need to autonomously dock onto a charging station. Here, reinforcement learning strategies were applied for the first time to control the docking of an AUV onto a...
We introduce an adaptive sampling method that has been developed to support the Backseat Driver control architecture of the Memorial University of Newfoundland (MUN) Explorer autonomous underwater vehicle (AUV). The design is based on an acoustic det...
Control systems prototyping is usually constrained by model complexity, embedded system configurations, and interface testing. The proposed control system prototyping of a remotely-operated vehicle (ROV) with a docking hoop (DH) to recover an autonom...
The paper introduces a novel method for creating a photographic map of the seabed using images captured by the on-board photo and video systems of autonomous underwater vehicles (AUVs) during various missions, while incorporating navigation parameter...
Autonomous underwater vehicle (AUV) is one of the most important exploration tools in the ocean underwater environment, whose movement is realized by the underwater thrusters, however, the thruster fault happens frequently in engineering practice. Oc...
Precise navigation is essential for autonomous underwater vehicles (AUVs). The measurement deviation of the navigation sensors, especially the microelectromechanical systems (MEMS) sensors, is a crucial factor that affects the localization accuracy....
Autonomous underwater vehicles (AUVs) have been increasingly applied in marine environmental monitoring. Their outstanding capability of performing tasks without human intervention makes them a popular tool for environmental data collection, especial...
The Deep Reinforcement Learning (DRL) algorithm is an optimal control method with generalization capacity for complex nonlinear coupled systems. However, the DRL agent maintains control command saturation and response overshoot to achieve the fastest...
Autonomous underwater vehicles (AUVs) play a pivotal role in the exploration and monitoring of the sea floor. A primary challenge in surveying AUVs is consistently obtaining high-quality optical imagery data. A major cause of quality reduction is tur...
This paper addresses the region tracking control problem for an autonomous underwater vehicle (AUV) and proposes a prediction-based region tracking control (PRTC) scheme for AUV. In the PRTC scheme, the idea of prediction is adopted to solve the prob...
The task allocation of autonomous underwater vehicles (AUVs) is a crucial aspect of ocean exploration and mission execution tasks. In a mine countermeasures (MCM) combat scenario, when a new suspicious mission point is detected in the mission area, t...
Simultaneous Localization and Mapping (SLAM) is a well-known solution for mapping and realizing autonomous navigation of an Autonomous Underwater Vehicle (AUV) in unknown underwater environments. However, the inaccurate time-varying observation noise...
This paper investigates the model-free trajectory tracking control problem for an autonomous underwater vehicle (AUV) subject to the ocean currents, external disturbances, measurement noise, model parameter uncertainty, initial tracking errors, and t...
Autonomous underwater vehicle inspection in 3D environments presents significant challenges in spatial mapping for obstacle avoidance and motion control. Current solutions rely on either 2D forward-looking sonar or expensive 3D sonar systems. To addr...
Autonomous Underwater Vehicles (AUVs) have become indispensable tools in the fields of ocean exploration, resource exploitation, and environmental monitoring. Path planning and obstacle avoidance are crucial to improve the operational capabilities of...
The suspended sediment plume generated in the deep-sea mining process significantly impacts the marine environment and seabed ecosystem. Accurate boundary estimation can effectively monitor the scope of environmental impact, guiding mining operations...
An effective autonomous underwater vehicle (AUV) simulation system can greatly improve development efficiency and reduce the cost and risk of actual equipment operation. In this paper, a comprehensive simulation system is developed using Mission Orie...
Aiming at the problem of path planning for autonomous underwater vehicle (AUV) to cope with the influence of obstacles and eddies in complex marine environments, a path planning method based on an improved salp swarm algorithm (ISSA) is proposed. Fir...
An active disturbance rejection control based on fractional calculus is proposed to improve the motion performance and robustness of autonomous underwater vehicle (AUV). The active disturbance rejection control (ADRC) method can estimate and compensa...
In the navigation of an autonomous underwater vehicle (AUV), the positioning accuracy and stability of the navigation system will decrease due to uncertainties such as mobility, inaccuracy of a priori process noise characteristic, and simplification...
Due to the unknown motion model and the complexity of the environment, the problem of target tracking for autonomous underwater vehicles (AUVs) became one of the major difficulties in model-based controllers. Therefore, the target tracking task of AU...
Path planning is the precondition for Hybrid Autonomous Underwater Vehicles (HAUV) to enter the submerged area to undertake a mission. The influence of ocean currents on HAUV should be further investigated to obtain a time-optimal path. The improved...
This work aims to develop a robust model predictive control (MPC) based on the active disturbance rejection control (ADRC) approach by using a discrete extended disturbance observer (ESO). The proposed technique uses the ADRC approach to lump disturb...
An autonomous underwater hovering vehicle (AUH) is a novel, dish-shaped, axisymmetric, multi-functional, ultra-mobile submersible in the autonomous underwater vehicle (AUV) family. Numerical studies of nonlinear, asymmetric water entry impact forces...
Accurately modeling the system dynamics of autonomous underwater vehicles (AUVs) is imperative to facilitating the implementation of intelligent control. In this research, we introduce a physics-informed neural network (PINN) method to model the dyna...
Autonomous Underwater Vehicles (AUVs) rely on integrated navigation systems and corresponding filtering algorithms to ensure mission success and the spatiotemporal accuracy of sampled data. Among these, the ensemble Kalman filter (EnKF) combines Mont...
In this paper, the three-dimensional (3D) path tracking control of an autonomous underwater vehicle (AUV) under the action of sea currents was researched. A novel reward function was proposed to improve learning ability and a disturbance observer was...
The autonomous underwater vehicle (AUV) is mainly used in the development and exploration of the ocean. As an important module of the AUV, the actuator plays an important role in the normal execution of the AUV. Therefore, the fault diagnosis of the...
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