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Journal articles on the topic 'AUV'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Dong, N., N. H. Nam, K. M. Tuan, and N. V. Hien. "A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs." Advanced Materials Research 1016 (August 2014): 686–93. http://dx.doi.org/10.4028/www.scientific.net/amr.1016.686.

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Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented a planar trajectory planning and tracking controller designed for Autonomous Underwater Vehicles or Autonomous Surface Vessels (AUVs/ASVs). Our approach covers steps such as the requirement, analysis, design and implementation to model and realize a controller for most standard AUV/ASV platforms. It also allows the designed elements to be customizable and re-usable in the development of new applications of AUV/ASV controllers. The paper describes step-by-step the development lifecycle of planar trajectory-t

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2

Nishida, Yuya, Takashi Sonoda, Shinsuke Yasukawa, et al. "Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems." Journal of Robotics and Mechatronics 30, no. 2 (2018): 238–47. http://dx.doi.org/10.20965/jrm.2018.p0238.

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A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional paylo

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3

Ren, Ranzhen, Lichuan Zhang, Lu Liu, et al. "Multi-AUV Cooperative Navigation Algorithm Based on Temporal Difference Method." Journal of Marine Science and Engineering 10, no. 7 (2022): 955. http://dx.doi.org/10.3390/jmse10070955.

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To reduce the cooperative positioning error and improve the navigation accuracy, a single master–slave AUV cooperative navigation method is proposed in this paper, which mainly focuses on planning the optimal path of the master AUV by the time difference (TD) method, under the premise that the path of the slave AUV has been planned. First, the model of multi-AUV cooperative navigation is established, and the observable problem of the system is analyzed. Second, for the single master–slave AUV cooperative navigation system, a Markov decision process (MDP)-based multi-AUV cooperative navigation

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4

Dmitry, Antonov, Kolganov Leonid, Savkin Aleksey, Chekhov Egor, and Ryabinkin Maxim. "NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE." EUREKA: Physics and Engineering 4 (July 31, 2020): 38–50. https://doi.org/10.21303/2461-4262.2020.001361.

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Autonomous underwater vehicles (AUVs) are widely used and have proven their effectiveness in tasks such as transportation safety, area monitoring and seafloor mapping. When developing AUV’s navigation and control systems, the engineers have to ensure the required levels of accuracy and reliability for solving navigation and motion control tasks in autonomous underwater operation under restrictions on the overall dimensions and power consumption of the AUV. The main purpose of this paper is to present preliminary results of AUV navigation and motion control systems development. The AUV&rs

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5

Lin, Changjian, Dan Yu, and Shibo Lin. "Allocation Strategy Optimization Using Repulsion-Enhanced Quantum Particle Swarm Optimization for Multi-AUV Systems." Journal of Marine Science and Engineering 12, no. 12 (2024): 2270. https://doi.org/10.3390/jmse12122270.

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In the context of multi-autonomous underwater vehicle (multi-AUV) operations, the target assignment is addressed as a multi-objective allocation (MOA) problem. The selection of strategy for multi-AUV target allocation is dependent on the current non-cooperative environment. This paper establishes a multi-AUV allocation situation advantage evaluation system to assess and quantify the non-cooperative environment. Based on this framework, a multi-AUV target allocation model using a bi-matrix game theory is developed, where multi-AUV target allocation strategies are considered as part of the strat

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6

Hu, Qing Yu, Jun Zhou, and Zhi Zha. "Application of PSO-BP Network Algorithm in AUV Depth Control." Applied Mechanics and Materials 321-324 (June 2013): 2025–31. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.2025.

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In order to improve the depth performance of AUV in parking, a PSO-BP algorithm for the depth control is presented. The algorithm can use the standard particle swarm (PSO) as BP neural network learning method, and which can be evolved in the AUV depth adaptive control. The adaptive controller has adopted the double neural network unit. One of controllers is made use the input terminal to output control quantity on the basis of current displacement and vertical acceleration of the AUV. The other can be recognized on-line by the AUV model identifier. The numerical simulations are given to verify

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7

Matsuda, Takumi, Yang Weng, Yuki Sekimori, Takashi Sakamaki, and Toshihiro Maki. "One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys." Journal of Robotics and Mechatronics 36, no. 1 (2024): 190–200. http://dx.doi.org/10.20965/jrm.2024.p0190.

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This study proposes a simultaneous localization method of a group of autonomous underwater vehicles (AUVs) based on one-way signals to realize distributed oceanographic surveys. Each AUV group consists of a single high-performance AUV (parent AUV) and the other AUVs (child AUVs). The child AUVs estimate their states (position and heading) based on the parent AUV as a positioning reference. By assuming a situation in which many AUV groups are deployed, the child AUVs can receive positioning signals from multiple parent AUVs. Although only the direction information of the parent AUV can be obtai

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8

Filaretov, V. F., and D. A. Yukhimets. "The Path Planning Method for AUV Group Moving in Environment with Obstacles." Mekhatronika, Avtomatizatsiya, Upravlenie 21, no. 6 (2020): 356–65. http://dx.doi.org/10.17587/mau.21.356-365.

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The new path planning method for AUV group moved in the " leader-followers" mode in a desired formation in an unknown environment with obstacles is proposed in paper. In this case one AUV plays role of AUV-leader, which has information about the mission and plans a safe trajectory of its movement, depending on its purpose and detected obstacles. AUV-followers must move behind the leader, in accordance with their assigned place in formation, using information about the current position of the leader, received via acoustic communication channels, and information about their distances to obstacle

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9

Yang, Lichun. "Small Modular AUV Based on 3D Printing Technology: Design, Implementation and Experimental Validation." Brodogradnja 75, no. 1 (2024): 1–16. http://dx.doi.org/10.21278/brod75104.

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A small modular autonomous underwater vehicle (AUV) offers several benefits including enhanced mobility, cost-effectiveness, compact and portable structure, and small size. This paper proposes a comprehensive design and implementation approach for a small modular AUV, named as ARMs1.0, utilizing cutting-edge 3D printing technology. The main cabin shell of the AUV features a modular design and is manufactured using 3D printing technology. The control module and sensing equipment are installed in a sealed compartment. To achieve forward, pitching, and yawing motions, the AUV is equipped with duc

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10

Sumule, Gian William. "LEGALITAS PENGGUNAAN AUTONOMOUS UNDERWATER VEHICLE DITINJAU DARI HUKUM LAUT INTERNASIONAL." BELLI AC PACIS 9, no. 1 (2023): 65. https://doi.org/10.20961/belli.v9i1.42861.

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<em>This thesis aims to research on the legality of the use of Autonomous Underwater Vehicles or AUV according to International Law of the Sea. AUV in general is a small ship compared to ship. AUV is equipped with sophisticated technology where AUV is able to operate autonomously in international seas even without the full supervision of the State. AUV often equated with drones that operate below sea level. The presence of AUV in the international sea law regime is certainly a challenge in regulating the use of AUV. This also impacts on the definition, rights, obligations, and the state'

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Zuo, Mingjiu, Guandao Wang, Yongxin Xiao, and Gong Xiang. "A Unified Approach for Underwater Homing and Docking of over-Actuated AUV." Journal of Marine Science and Engineering 9, no. 8 (2021): 884. http://dx.doi.org/10.3390/jmse9080884.

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During the implementation of time-consuming tasks such as underwater observation or detection, AUV has to face a difficult and urgent problem that its working duration is greatly shortened by the limited energy stored in the battery device. To solve the power problem, a docking station is installed underwater for AUV charging its battery. However, to realize the automatic underwater charging of AUV via a docking station, the accurate and efficient completion of underwater homing and docking is required for AUV. Underwater automatic homing and docking system is of great significance to improve

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12

Liang, Qingwei, Tianyuan Sun, and Junlin Ou. "System Reliable Probability for Multi-AUV Cooperative Systems under the Influence of Current." Journal of Navigation 72, no. 06 (2019): 1649–59. http://dx.doi.org/10.1017/s0373463319000298.

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Real multi-Autonomous Underwater Vehicle (AUV) cooperative systems operate in complicated marine environments. The interaction between a multi-AUV cooperative system and its marine environment will affect the reliability of the system. Current is an important influencing factor of multi-AUV cooperative systems. A reliability index of multi-AUV cooperative systems known as System Reliable Probability (SRP) is proposed in this study. A method to calculate SRP is introduced, and the influence of current on SRP is discussed in detail. Current is considered an attack source, and the degree of its i

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13

Pan, Chang Jun, and Ying Qing Guo. "Design and Simulation of High Altitude Air-Launched Automatic Underwater Vehicles." Applied Mechanics and Materials 128-129 (October 2011): 1386–91. http://dx.doi.org/10.4028/www.scientific.net/amm.128-129.1386.

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In this paper, an high altitude air-launched automatic underwater vehicles (AL-AUV) is designed based on the traditional torpedo-like AUV, REMUS. And an additional ex-range gliding wings unit is assembled on the top of AUV, which enable the AUV to be dropped at high altitude and gliding long distance to reach the signed investigating ocean field. The controllable surface on the wings also enhanced the controllability and flexibility of AUV gliding through the air and the ability against the influence of airflow interference. The AUV’s six DOF gliding model is established and a simulation syste

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14

Bobkov, Valery, Alexey Kudryashov, and Alexander Inzartsev. "A Technique to Navigate Autonomous Underwater Vehicles Using a Virtual Coordinate Reference Network during Inspection of Industrial Subsea Structures." Remote Sensing 14, no. 20 (2022): 5123. http://dx.doi.org/10.3390/rs14205123.

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Industrial subsea infrastructure inspections using autonomous underwater vehicles (AUV) require high accuracy of AUV navigation relative to the objects being examined. In addition to traditional navigation tools with inertial navigation systems and acoustic navigation equipment, technologies with video information processing are also actively developed today. The visual odometry-based techniques can provide higher navigation accuracy for local maneuvering at short distances to objects. However, in the case of long-distance AUV movements, such techniques typically accumulate errors when calcula

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15

Guo, Yinjing, Hui Liu, Xiaojing Fan, and Wenhong Lyu. "Research Progress of Path Planning Methods for Autonomous Underwater Vehicle." Mathematical Problems in Engineering 2021 (February 12, 2021): 1–25. http://dx.doi.org/10.1155/2021/8847863.

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Path planning is a key technology for autonomous underwater vehicle (AUV) navigation. With the emphasis and research on AUV, AUV path planning technology is continuously developing. Path planning techniques generally include environment modelling methods and path planning algorithms. Based on a brief description of the environment modelling methods, this paper focuses on the path planning algorithms commonly used by AUV. According to the basic principles of the algorithm, the AUV path planning algorithms are divided into four categories: artificial potential field methods, geometric model sear

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16

Pervukhin, D. A., D. D. Kotov, and Yu M. Iskanderov. "Methods of structural-parametric synthesis of autonomous underwater vehicles designed to solve problems in the interests of the mineral resources complex." Sovremennaya nauka i innovatsii, no. 1 (49) (2025): 18–40. https://doi.org/10.37493/2307-910x.2025.1.2.

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This paper presents the conclusions drawn from a study of the development process of autonomous unmanned underwater vehicles (AUV). The study reveals that the development of AUV is a complex and multidisciplinary process involving a wide range of technical and non-technical factors. It also highlights the challenges and constraints that slow down the development process. Based on these findings, the article makes several recommendations to improve the AUV development process, such as using modular and scalable designs, setting clear goals, forming partnerships, and collaborating with regulator

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17

Tan, Le Khanh, Tran Ngoc Huy, and Pham Huy Hoang. "A measure of control of submerging and surfacing of an Autonomous underwater vehicle for exploring underwater of rivers." Science & Technology Development Journal - Engineering and Technology 3, SI1 (2020): SI151—SI156. http://dx.doi.org/10.32508/stdjet.v3isi1.756.

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Autonomous underwater vehicle (AUV) known, as a special purpose underwater research vehicle (SPURV) is really a pocket submarine that could be used in multipurpose such as meteorology, probing the pollution of stream, military spying, exploring an underwater tunnel or wrecked ships and other purposes. With the reason of the power of battery inside of AUV is limited, the aim of this paper is to represent an effect way of control the submerging and surfacing of an AUV in order to save energy for a longer time service or a deeper and further expedition under water. In fact, there are so many ways

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18

Yan, Guo-Xin, Guang Pan, and Yao Shi. "Ricochet Characteristics of AUVs during Small-Angle Water Entry Process." Mathematical Problems in Engineering 2019 (December 28, 2019): 1–12. http://dx.doi.org/10.1155/2019/9518437.

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When the autonomous underwater vehicle (AUV) enters the water at a small angle, the head of the AUV will be subjected to a torque that causes it to rise, which may cause the AUV to ricochet. The occurrence of ricochet will have an important impact on the trajectory stability of the AUV. In this paper, the finite element method-smoothed particle hydrodynamics (FEM-SPH) coupling algorithm, which absorbs the high efficiency of FEM and the advantages of SPH in dealing with large deformation and meshes distortion, is used to study the small-angle water entry problem of the AUV numerically. In the c

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19

Luo, Wanzhen, Caipeng Ma, Dapeng Jiang, Tiedong Zhang, and Tiecheng Wu. "The Hydrodynamic Interaction between an AUV and Submarine during the Recovery Process." Journal of Marine Science and Engineering 11, no. 9 (2023): 1789. http://dx.doi.org/10.3390/jmse11091789.

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The hydrodynamic interaction between an AUV (Autonomous Underwater Vehicle) and a recovery device, such as a real-scale submarine, is a crucial factor affecting the safe recovery of the AUV. This paper employs the CFD (Computational Fluid Dynamics) method to investigate the hydrodynamic interaction of the AUV and the submarine during the recovery process. Both the AUV and the submarine are considered to be relatively stationary. The results indicate that the submarine has a significant impact on the AUV during the recovery process, with sailing speed and relative positions identified as key in

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20

Yan, Zheping, Lidong Yue, Jiajia Zhou, Xiaoli Pan, and Chao Zhang. "Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints." Journal of Marine Science and Engineering 11, no. 1 (2023): 107. http://dx.doi.org/10.3390/jmse11010107.

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In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set is studied. Firstly, the problem of formation coordination control of multi-AUV system is transformed into the problem of formation consensus of multi-AUV system, and the consistent state of leaderless multi-AUV system formation was defined. Secondly, considering the existence of bounded communication delay and nonconvex control input constraints for mu

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Zhang, Lei, Da Peng Jiang, and Jin Xin Zhao. "The Basic Control System of an Ocean Exploration AUV." Applied Mechanics and Materials 411-414 (September 2013): 1757–61. http://dx.doi.org/10.4028/www.scientific.net/amm.411-414.1757.

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Autonomous Underwater Vehicle (AUV) which could finish autonomous mission process is paid more and more attention. As an artificial intelligence system, AUV has high independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an important roll in achieving those properties. A newly developed AUV, ZT-AUV, which is used for ocean exploring, is introduced. And its basic control system architecture is depicted. Both the hardware and software in the control system are described. Finally, the experiments in tank and those at sea are conducted to test the a

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Salleh, Z., M. F. Ghani, and M. A. H. Ramli. "Preliminary Design of Autonomous Underwater Vehicle with Higher Resolution Underwater Camera for Marine Exploration." Journal of Ocean, Mechanical and Aerospace -science and engineering- (JOMAse) 2, no. 1 (2013): 6–12. https://doi.org/10.36842/jomase.v2i1.503.

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This research explains on a design and development of an Autonomous Underwater Vehicle (AUV). Definition of AUV is a robotic sub-sea that is a part of the emerging field of autonomous and unmanned vehicles. This project shows the design of implementation of an AUV as a test prototyping vehicle especially involved small-scale and low cost sub-sea robots. The AUV prototype has been design and simulate by using SolidWorks. The AUV assembled with mechanical system, module of electronic system for development of controller.

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23

Zhao, Fang Ze, Bao Wei Song, and Xiao Xu Du. "Simulation and Analysis of AUV’s Hydrodynamics when Moving in the Near-Seabed." Advanced Materials Research 605-607 (December 2012): 2409–12. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.2409.

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When the AUV is executing detection, reconnaissance and other job tasks, AUV will moving in the near-seabed. And the flow field due to the seabed boundary effects become extraordinarily complex when the AUV moving in the near-seabed. In this paper, we will carry out some research about hydrodynamics simulation and analysis when the AUV is moving in the near-seabed.The model of flow field when AUV moving in the near-seabed was introduced and the dividing grid process was presented. At last the AUV’s hydrodynamics were simulated.

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Herlambang, Teguh, Subchan Subchan, and Hendro Nurhadi. "PRELIMINARY EXPERIMENTAL STUDY ON DESIGNING BALLAST SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLE." JOURNAL ASRO 10, no. 1 (2019): 88. http://dx.doi.org/10.37875/asro.v10i1.94.

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ABSTRACT Unmanned submarine commonly called Autonomous Underwater Vehicle (AUV) is one type of underwater robots used for underwater mapping. AUV is an underwater vehicle capable of automatically moving in water, controlled by humans on vessel. To build AUV is not easy as many components play important roles in the operation of AUV, one of which is active ballast. Calculations on the making and benchmarks of active ballast systems are still very rare. Active ballast is a set of equipment used to fill its tanks with seawater and to empty sea water from the tanks on submarines. These tanks

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Ngatini, Ngatini, and Hendro Nurhadi. "Estimasi Lintasan AUV 3 Dimensi (3D) Dengan Ensemble Kalman Filter." INOVTEK Polbeng - Seri Informatika 4, no. 1 (2019): 12. http://dx.doi.org/10.35314/isi.v4i1.774.

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AUV (Autonomous Underwater Vehicle) merupakan kapal selam tanpa awak yang sistem geraknya dikemudikan (dikendalikan) oleh perangkat komputer. Sistem gerak dari AUV membutuhkan sebuah navigasi dan guidance control yang mampu mengarahkan gerak AUV, sehingga dibutuhkan sebuah estimasi posisi AUV sesuai dengan lintasan yang diberikan. Penelitian ini mengembangkan estimasi posisi dari AUV Segorogeni ITS menggunakan metode atau algoritma Ensemble Kalman Filter (EnKF) karena EnKF mampu mengestimasi persoalan berbentuk model sistem non linier dimana persamaan gerak dari AUV berbentuk non linear. Estim

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Zhao, Jingxu, Feng Zhou, and Chen Zhao. "Cooperative positioning method of underwater autonomous vehicle formation based on extended Kalman filter." Journal of the Acoustical Society of America 154, no. 4_supplement (2023): A309. http://dx.doi.org/10.1121/10.0023628.

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Autonomous Underwater Vehicles (UAVs) have shown significant potential application value in marine environmental surveillance, development, and utilization of resources. However, due to the complex underwater acoustic channel environment and the relative motion between AUVs, this may lead to heavy-tailed non-Gaussian process noise and measurement noise, leading to increased error and the Extended Kalman Filter (EKF) may fail. In prior studies, we propose a multi-AUV formation hierarchical target location algorithm based on the EKF, which can realize multi-AUV self-localization and stationary t

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27

Kim, Jonghoek. "Wake-Responsive AUV Guidance Assisted by Passive Sonar Measurements." Journal of Marine Science and Engineering 12, no. 4 (2024): 645. http://dx.doi.org/10.3390/jmse12040645.

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To make an Autonomous Underwater Vehicle (AUV) chase a moving target ship that generates wake, wake-responsive guidance can be used. This scenario is applicable to making an underwater torpedo pursue a moving target ship until hitting the target. The objective of our research is to make an AUV pursue a target ship assisted by passive sonar sensors as well as wake sensors. To track a maneuvering target without losing the target, the AUV applies both passive sonar sensors and two wake sensors. Two wake sensors are utilized to decide the turn direction of the AUV in zig-zag maneuvers. In practice

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Martorell-Torres, Antoni, Eric Guerrero-Font, José Guerrero-Sastre, and Gabriel Oliver-Codina. "Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations." Sensors 23, no. 1 (2022): 109. http://dx.doi.org/10.3390/s23010109.

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In this paper, we present the design, development and a practical use of an Autonomous Surface Vehicle (ASV) as a modular and flexible platform for a large variety of marine tasks including the coordination strategies with other marine robots. This work tackles the integration of an open-source Robot-Operating-System (ROS)-based control architecture that provides the ASV with a wide variety of navigation behaviors. These new ASV capabilities can be used to acquire useful data from the environment to survey, map, and characterize marine habitats. In addition, the ASV is used as a radio frequenc

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29

Nicholson, J. W., and A. J. Healey. "The Present State of Autonomous Underwater Vehicle (AUV) Applications and Technologies." Marine Technology Society Journal 42, no. 1 (2008): 44–51. http://dx.doi.org/10.4031/002533208786861272.

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AUVs have proved their usefulness in recent years and continue to do so. This paper is a review of the current state of the art of AUVs. Present AUV capabilities are reviewed through a discussion of feasible present-day AUV missions. The state of key AUV design features and sensor technologies is also addressed, identifying those areas most critical to continued future progress in AUV development.

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Nagashima, Yutaka, Nobuyoshi Taguchi, Takakazu Ishimatsu, and Hirofumi Inoue. "Development of a Compact Autonomous Underwater vehicle Using Varivec Propeller." Journal of Robotics and Mechatronics 14, no. 2 (2002): 112–17. http://dx.doi.org/10.20965/jrm.2002.p0112.

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This paper describes an autonomous underwater vehicle (AUV) with a distributed fuzzy controller and underwater acoustic communication. Our AUV is made compact and lightweight by using a Varivec propeller and compact controller with sophisticated logic circuits. The AUV is precisely controlled using underwater ultrasonic command signals and fuzzy control. The AUV is autonomously controlled using an electronic compass, collision avoidance sonar, depth sensor, and GPS receiver. Experimental results show that our AUV moved along the target path and held the desired position keeping azimuth directi

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Herlambang, Teguh, Hendro Nurhadi, and Subchan. "Preliminary Numerical Study on Designing Navigation and Stability Control Systems for ITS AUV." Applied Mechanics and Materials 493 (January 2014): 420–25. http://dx.doi.org/10.4028/www.scientific.net/amm.493.420.

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In this paper, the numerical study of designing on navigation and stability control system for AUV is studied. The study started by initiating hydrostatic forces, added masses, lift force, drag forces and thrust forces. Determining the hydrodynamic force which is the basic need to know the numerical case study on designing on navigation and stability control system for AUV where Autonomous Underwater vehicles (AUV). AUV is capably underwater vehicle in moving automatically without direct control by humans according to the trajectory. The result of numerical study is properly to be the referenc

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Wang, Linling, Xiaoyan Xu, Bing Han, and Huapeng Zhang. "Multiple Autonomous Underwater Vehicle Formation Obstacle Avoidance Control Using Event-Triggered Model Predictive Control." Journal of Marine Science and Engineering 11, no. 10 (2023): 2016. http://dx.doi.org/10.3390/jmse11102016.

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In this paper, multiple autonomous underwater vehicle (multi-AUV) formation control with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. Firstly, multi-AUV motion model systems are developed. The navigation reference trajectory of the follower AUVs can be obtained using a multi-AUV relative motion model. Secondly, in order to overcome the speed jump and obstacle avoidance problem in multi-AUV systems, compatibility constraints are presented in MPC that limit the uncertainty deviation of each AUV. The even

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Wang, Shihao, Xiaoyu Liu, Siquan Yu, Xinghua Zhu, Bingbing Chen, and Xiaoyu Sun. "Design and Implementation of SSS-Based AUV Autonomous Online Object Detection System." Electronics 13, no. 6 (2024): 1064. http://dx.doi.org/10.3390/electronics13061064.

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Underwater object detection is an important task in marine exploration. The existing autonomous underwater vehicle (AUV) designs typically lack an integrated object detection module and are constrained by communication limitations in underwater environments. This results in a situation where AUV, when tasked with object detection missions, require real-time transmission of underwater sensing data to shore-based stations but are unable to do so. Consequently, the task is divided into two discontinuous phases: AUV acquisition of underwater data and shore-based object detection, leading to limite

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Zhang, Qinghe, Longchuan Guo, Md Abrar Hasan Sohan, and Xiaoqing Tian. "Research on the Control Problem of Autonomous Underwater Vehicles Based on Strongly Coupled Radial Basis Function Conditions." Applied Sciences 13, no. 13 (2023): 7732. http://dx.doi.org/10.3390/app13137732.

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This paper addresses tracking control problems for autonomous underwater vehicle (AUV) systems with coupled nonlinear functions. For the first time, the radial basis function (RBF) is applied to the model reference adaptive control system, and the vehicle horizontal plane model is proposed. When the AUV movement is affected by the driving force, ocean resistance, and the force generated by the water current, the expected output of the AUV’s system is difficult to meet the expectations, making the AUV trajectory tracking problems challenging. There are two main options for finding suitable cont

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Zhang, Fubin, Xingqi Wu, and Peng Ma. "Consistent Extended Kalman Filter-Based Cooperative Localization of Multiple Autonomous Underwater Vehicles." Sensors 22, no. 12 (2022): 4563. http://dx.doi.org/10.3390/s22124563.

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In order to solve the problem of inconsistent state estimation when multiple autonomous underwater vehicles (AUVs) are co-located, this paper proposes a method of multi-AUV co-location based on the consistent extended Kalman filter (EKF). Firstly, the dynamic model of cooperative positioning system follower AUV under two leaders alternately transmitting navigation information is established. Secondly, the observability of the standard linearization estimator based on the lead-follower multi-AUV cooperative positioning system is analyzed by comparing the subspace of the observable matrix of sta

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Hong, Lin, Renjie Fang, Xiaotian Cai, and Xin Wang. "Numerical Investigation on Hydrodynamic Performance of a Portable AUV." Journal of Marine Science and Engineering 9, no. 8 (2021): 812. http://dx.doi.org/10.3390/jmse9080812.

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This paper conducts a numerical investigation on the hydrodynamic performance of a portable autonomous underwater vehicle (AUV). The portable AUV is designed to cruise and perform some tasks autonomously in the underwater world. However, its dynamic performance is strongly affected by hydrodynamic effects. Therefore, it is crucial to investigate the hydrodynamic performance of the portable AUV for its accurate dynamic modeling and control. In this work, based on the designed portable AUV, a comprehensive hydrodynamic performance investigation was conducted by adopting the computational fluid d

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Tian, Wenlong, Zhaoyong Mao, Fuliang Zhao, and Zhicao Zhao. "Layout Optimization of Two Autonomous Underwater Vehicles for Drag Reduction with a Combined CFD and Neural Network Method." Complexity 2017 (2017): 1–15. http://dx.doi.org/10.1155/2017/5769794.

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This paper presents an optimization method for the design of the layout of an autonomous underwater vehicles (AUV) fleet to minimize the drag force. The layout of the AUV fleet is defined by two nondimensional parameters. Firstly, three-dimensional computational fluid dynamics (CFD) simulations are performed on the fleets with different layout parameters and detailed information on the hydrodynamic forces and flow structures around the AUVs is obtained. Then, based on the CFD data, a back-propagation neural network (BPNN) method is used to describe the relationship between the layout parameter

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Wang, Xingwang, Debing Wei, Xiaohui Wei, Junhong Cui, and Miao Pan. "HAS4: A Heuristic Adaptive Sink Sensor Set Selection for Underwater AUV-Aid Data Gathering Algorithm." Sensors 18, no. 12 (2018): 4110. http://dx.doi.org/10.3390/s18124110.

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In this paper, we target solving the data gathering problem in underwater wireless sensor networks. In many underwater applications, it is not quick to retrieve sensed data, which gives us the opportunity to leverage mobile autonomous underwater vehicles (AUV) as data mules to periodically collect it. For each round of data gathering, the AUV visits part of the sensors, and the communication between AUV and sensor nodes is a novel high-speed magnetic-induction communication system. The rest of the sensors acoustically transmit their sensed data to the AUV-visit sensors. This paper deploys the

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Shao, Gang, Lei Wan, and Huixi Xu. "A Novel Method of Time-Varying Formation Control Based on a Directed Graph for Multiple Autonomous Underwater Vehicles." Applied Sciences 14, no. 14 (2024): 6377. http://dx.doi.org/10.3390/app14146377.

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Currently, autonomous underwater vehicles (AUVs) are facing various challenges, rendering multiple-AUV (multi-AUV) formation control a pivotal research direction. The issues surrounding formation control for a multi-AUV system to establish time-varying formations must be investigated. This paper discusses the formation protocol of multi-AUV systems in order to establish the defined time-varying formations. First, when these systems establish formations, the speed of each AUV can be equivalent. After that, consensus-based methods are used to solve the time-varying formation-control problem. The

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Nie, Yunli, Dalei Song, Zhenyu Wang, Yan Huang, and Hua Yang. "Design and Motion Performance Analysis of Turbulent AUV Measuring Platform." Sensors 22, no. 2 (2022): 460. http://dx.doi.org/10.3390/s22020460.

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The use of a multi-functional autonomous underwater vehicle (AUV) as a platform for making turbulence measurements in the ocean is developed. The layout optimization of the turbulence package and platform motion performance are limitation problems in turbulent AUV design. In this study, the computational fluid dynamics (CFD) method has been used to determine the optimized layout position and distance of the shear probe integrated into an AUV. When placed 0.8 D ahead of the AUV nose along the axis, the shear probe is not influenced by flow distortion and can contact the water body first. To ana

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Zou, Tao, Weilun Situ, Wenlin Yang, Weixiang Zeng, and Yunting Wang. "A Method for Long-Term Target Anti-Interference Tracking Combining Deep Learning and CKF for LARS Tracking and Capturing." Remote Sensing 15, no. 3 (2023): 748. http://dx.doi.org/10.3390/rs15030748.

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Autonomous underwater vehicles (AUV) recycling in an underwater environment is particularly challenging due to the continuous exploitation of marine resources. AUV recycling via visual technology is the primary method. However, the current visual technology is limited by harsh sea conditions and has problems, such as poor tracking and detection. To solve these problems, we propose a long-term target anti-interference tracking (LTAT) method, which integrates Siamese networks, You Only Look Once (YOLO) networks and online learning ideas. Meanwhile, we propose using the cubature Kalman filter (CK

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Zheng, Shuwen, Mingjun Zhang, Jing Zhang, and Jitao Li. "Lagrange tracking-based long-term drift trajectory prediction method for Autonomous Underwater Vehicle." Mathematical Biosciences and Engineering 20, no. 12 (2023): 21075–97. http://dx.doi.org/10.3934/mbe.2023932.

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<abstract><p>Autonomous Underwater Vehicle (AUV) works autonomously in complex marine environments. After a severe accident, an AUV will lose its power and rely on its small buoyancy to ascend at a slow speed. If the reserved buoyancy is insufficient, when reaching the thermocline, the buoyancy will rapidly decrease to zero. Consequently, the AUV will experience prolonged lateral drift within the thermocline. This study focuses on developing a prediction method for the drift trajectory of an AUV after a long-term power loss accident. The aim is to forecast the potential resurfacing

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Liu, Jiawei, Yuanbo Xu, Shanshan Song, and Lu Jiang. "Reducing AUV Energy Consumption Through Dynamic Sensor Directions Switching via Deep Reinforcement Learning." Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 18 (2025): 18843–51. https://doi.org/10.1609/aaai.v39i18.34074.

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Autonomous underwater vehicle (AUV) is crucial for marine applications such as ocean data collection, pollution monitoring, and navigation. However, their limited energy resources constrain their operational duration, posing a significant challenge for long-term operations. Due to the complex and unpredictable nature of the underwater environment, AUVs allocate energy to their sensing systems to sense the surrounding environment and avoid obstacles. Existing methods focus on reducing energy consumption on AUV computing and movement, neglecting sensing energy consumption and few attempts have b

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Jacobson, John, Pierce Cohen, Amin Nasr, Art J. Schroeder, and Greg Kusinski. "DeepStar 11304: Laying the Groundwork for AUV Standards for Deepwater Fields." Marine Technology Society Journal 47, no. 3 (2013): 13–18. http://dx.doi.org/10.4031/mtsj.47.3.9.

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AbstractEmerging autonomous underwater vehicles (AUVs) developments across the oil and gas industry now include pipeline inspection; structural survey; deepwater inspection, repair and maintenance (IRM); and field resident systems for remote/harsh environments. As these capabilities mature, AUVs will become an increasingly important tool for deepwater field operations. Early adoption of AUV standards will facilitate more rapid deployment of AUV technologies and enable the industry to reap a wide range of safety, environmental, operational, and economic benefits for its deepwater fields. The de

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Li, Juan, Xiaoliang Zhai, Jian Xu, and Chengyue Li. "Target Search Algorithm for AUV Based on Real-Time Perception Maps in Unknown Environment." Machines 9, no. 8 (2021): 147. http://dx.doi.org/10.3390/machines9080147.

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For the problem of AUV target searches in unknown underwater environments, a target search algorithm for AUVs based on a real-time perception map is proposed. Real-time perception maps, including target existence probability maps, uncertainty maps, and pheromone maps and their updating rules, are established. Attraction source maps and search status maps based on the environmental information detected by the AUV are established. The maps are used for the AUV to search for corner areas that are unknown to a high degree and areas with low coverage around the current location. At the same time, a

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Jadaon, Abhiyutthan Singh, Chitra Champawat, and Chandra Pal Singh. "Congenital anterior urethral valves and diverticula: a rare disease with good prognosis." International Surgery Journal 12, no. 4 (2025): 575–79. https://doi.org/10.18203/2349-2902.isj20250817.

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Congenital anterior urethral valves (AUV) are rare congenital anomalies causing lower urinary tract obstruction in children. It can occur as an isolated entity or in association with proximal diverticula. We present our experience of congenital AUV. We did a retrospective review of the medical records From September 2017 to August 2018 to analyze the clinical presentation, investigations, treatment, and outcome of 7 cases of AUV. Two patients were diagnosed as isolated AUV while five presented with associated diverticula. The age of presentation ranged from 6 months to 3 years. Weak voiding st

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Shaari, Muhammad Farid. "Drag Analysis of Contractile Water Jet Locomoted Micro AUV in Laminar Fluid." Applied Mechanics and Materials 799-800 (October 2015): 1188–92. http://dx.doi.org/10.4028/www.scientific.net/amm.799-800.1188.

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Drag analysis is vital to measure the performance of the autonomous underwater vehicle (AUV) as well as the AUV thruster. Most of the previous drag studies is regarding to the shape and swimming method that contribute to the AUV performance. However, few attention was given on drag which influence the development of thruster. Hence, this research was conducted to analyze the drag of the micro AUV in a laminar fluid flow in order to find the optimum thrust that must be gained by a contractile water jet thruster (CWJT). Besides, these studies also focus on the dynamic pressure and skin friction

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Ru, Jingyu, Shuangjiang Yu, Hao Wu, et al. "A Multi-AUV Path Planning System Based on the Omni-Directional Sensing Ability." Journal of Marine Science and Engineering 9, no. 8 (2021): 806. http://dx.doi.org/10.3390/jmse9080806.

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Following the development of autonomous underwater vehicles (AUVs), multiple trajectory-based submarine target information collection constitutes one of the key technologies that significantly influence underwater information collection ability and deployment efficiency. In this paper, we propose an underwater information collection AUV, O-AUV, that can perceive the omnidirectional area and could detect a larger area than the traditional AUV. A 3D sensing model for the O-AUV is proposed to describe the complex underwater information collection spaces. Thereafter, a cube-based environment model

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Kim, Jonghoek. "Autonomous Underwater Vehicle Localization Using Sound Measurements of Passing Ships." Applied Sciences 10, no. 24 (2020): 9139. http://dx.doi.org/10.3390/app10249139.

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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 source level of a passing ship, while identifying the ship by processing the ship’s sound. This paper considers an AUV which can localize itself by integrating propeller and Inertial Measurement Units (IMU). Suppose that the AUV has been moving in underwater environments for a long time, under the IMU-only localization. To fix long-term drift in the I

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Ji, Xing, Lei Zhang, Jian Cao, and Shan Ma. "Non-Linear Path-Following Control of Micro-AUV." Advanced Materials Research 1006-1007 (August 2014): 599–603. http://dx.doi.org/10.4028/www.scientific.net/amr.1006-1007.599.

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A novel path-following control method of under-actuated AUV is proposed in this paper. Under the Serret-Frenet coordinate system, dynamics equations of path-following error were established based on virtual target AUV. And then combined with dynamics equations of AUV, controller was designed based on Lyapunov stability theory and backstepping technique. Simulation results showed that path-following error could converge to zero rapidly by using the proposed non-linear feedback control law, to make the AUV navigate along the referenced path.

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