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Journal articles on the topic 'AUV'
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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-tracking controller for AUVs/ASVs. Based on this approach, a horizontal trajectory-tracking controller of a miniature autonomous submerged vehicle is completely developed and successfully taken on trial trip.
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Nishida, Yuya, Takashi Sonoda, Shinsuke Yasukawa, Kazunori Nagano, Mamoru Minami, Kazuo Ishii, and Tamaki Ura. "Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems." Journal of Robotics and Mechatronics 30, no. 2 (April 20, 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 payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.
3
Ren, Ranzhen, Lichuan Zhang, Lu Liu, Dongwei Wu, Guang Pan, Qiaogao Huang, Yuchen Zhu, Yazhe Liu, and Zixiao Zhu. "Multi-AUV Cooperative Navigation Algorithm Based on Temporal Difference Method." Journal of Marine Science and Engineering 10, no. 7 (July 12, 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 model is established, and the master AUV path planning method is designed based on the TD method. Finally, the extended Kalman filter (EKF) and unscented Kalman filter (UKF) nonlinear filtering algorithms are applied to simulate and verify the algorithm that is proposed in this paper. The results show that the theoretical positioning error of the slave AUV can be controlled to about 3.2m by planning the path of the master AUV using the TD method. This method can not only reduce the observation error and positioning error of the slave AUV during the whole cooperative navigation process, but also keep the relative measurement distance between the master AUV and the slave AUV within an appropriate range.
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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 the AUV depth adaptive control by the controller. The results show that the proposed algorithm can significantly improve the AUV depth control performance. The convergence speed of AUV depth control is 4.5 times than the PID algorithm, so the efficiency of the AUV depth is vastly perfected.
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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 (February 20, 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 obtained from a signal from one parent AUV, the child AUVs can estimate their states by receiving signals from different parent AUVs. Sea experiments were conducted using an autonomous buoy and an AUV. The effectiveness of the proposed method was evaluated through a navigation simulation based on the sensor data obtained from the experiments.
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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 (June 4, 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 obstacles, detected by their onboard rangefinders. Due to the low bandwidth of acoustic communication channels, there is a problem of matching the position of the AUV-followers during obstacles avoidance. It is necessary to avoid collisions between AUV of group. This problem is solved by means of the preliminary forming for each follower of the only possible trajectory of movement inside formation which will provide it safe movement relatively other followers when this AUVfollower moves around detected obstacle. This approach allows do not coordinate the current position of the AUV-followers relative to other AUV of group if a high-precision control system is used, and as a result it does not require additional data exchange between the AUV group. In this paper, an approach to the forming of AUV-follower trajectories inside AUV formation and the method of forming the desired position of the AUV-followers on these trajectories are proposed. The effectiveness of the proposed method is confirmed by the results of mathematical modeling.
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Yang, Lichun. "Small Modular AUV Based on 3D Printing Technology: Design, Implementation and Experimental Validation." Brodogradnja 75, no. 1 (January 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 ducted propeller and four independent rudders. The modular approach in AUV design has been implemented, considering both the main cabin shell as well as the subsections and segments of the AUV. Additionally, a centralized control system architecture design is developed based on the specific tasks of the AUV. The composition and functions of key units are described in detail, and an autonomous depth-tracking control strategy is formulated. Based on the experimental results for AUV motion in horizontal and vertical planes, including autonomous depth tracking tests, the ARMs1.0 AUV demonstrates the capability to successfully perform required maneuvering tasks. The designed small modular AUV has achieved accurate depth tracking, precise heading following and exhibits excellent maneuverability.
8
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 (August 17, 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 work efficiency and prolong the endurance of AUV save cost. In this paper, a unified approach that involves such as task planning, guidance and control design, thrust allocation has been proposed to provide a complete solution to the problem of homing and docking of an over-actuated AUV. The task-based hybrid target point/line planning and following strategy are proposed for AUV homing and docking. At the beginning of homing, AUV is planned to follow a straight line via the line of sight (LoS) method. Afterward, AUV starts to follow multiple predefined target points until reaching the docking station. At the final stage of docking (within 10 m), a dedicated computer vision algorithm is applied to detect a newly designed LED light array fixed on the docking station to provide accurate guidance for the AUV to dock. The sliding mode control technique is used for the motion control of the AUV allowing robustness. As the AUV configured with eight thrusters is over-actuated, the problem of the thrust allocation is very important and successfully solved using the quadratic programming (QP) optimization method. Finally, the simulations of homing and docking tasks using the AUV are accomplished to verify the proposed approach.
9
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 (July 5, 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 influence on SRP is calculated. As an example, the performance of this method is shown on two multi-AUV cooperative systems. Results show that the influence of the same current environment on different structures of the multi-AUV cooperative systems differs. This result provides a reference for the structure selection of multi-AUV systems. This study provides a practical method to estimate the reliability of multi-AUV cooperative systems.
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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 system of AL-AUV is built with Matlab/Simulink. Analyzing the recorded simulation velocity and pitch characteristics of AL-AUV deployed at varying initial velocities and wing area, the optimized wing is selected.
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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 (October 13, 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 calculating the AUV movement trajectory. In this regard, the present article considers a navigation technique that allows for increasing the accuracy of AUV movements in the coordinate space of the object inspected by using a virtual coordinate reference network. Another aspect of the method proposed is to minimize computational costs for AUV moving along the inspection trajectory by referencing the AUV coordinates to the object pre-calculated using the object recognition algorithm. Thus, the use of a network of virtual points for referencing the AUV to subsea objects is aimed to maintain the required accuracy of AUV coordination during a long-distance movement along the inspection trajectory, while minimizing computational costs.
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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 search methods, random sampling methods, and intelligent bionic methods. In this review, we summarize in detail the development and application of various path planning algorithms in recent years. Meanwhile, we analyse the advantages and disadvantages of various algorithms and their improvement methods. Obstacles, ocean currents, and undersea terrain have an impact on AUV path planning. Therefore, how to deal with the complex underwater environment adds some limits to AUV path planning algorithms. In addition to the external environment, path planning algorithms also need to consider AUV’s physical constraints, such as energy constraints and motion constraints. Then, we analyse the motion constraints in AUV path planning. Finally, we discuss the development direction of AUV path planning algorithm. Time-varying ocean currents, special obstacles, multiobjective constraints, and practicability will be the problems that AUV path planning algorithms need to solve.
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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 (August 17, 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 for saving energy of the battery of AUV and in this paper, the selection of keeping permanently the horizontal direction of the AUV in any operation as the situation of a real submarine is applied. The diving and surfacing of AUV are consigned to the motor of the pump that consumes a little of energy to keep the proportion of the weight and the Archimedes force by pumping water inside or outside of the AUV. The selection of volume of pumped water is considered as a dynamic ballast mass for maintaining the horizontal equilibrium of the AUV at the time of submerging and surfacing. In the other hand, the controlling of the gravity point of AUV for maintaining a fixed position of gravity of the AUV when submerging and surfacing are the main factors of the paper that is also investigated in this paper. Finally, the motor of the propeller or thruster that always spends a great energy has committed only for forward or backward motion of the AUV. In this measure, the motor of thruster does not confronted with a great consummation of energy when submerging and surfacing in an oblique direction as almost all popular measures of control of AUV.
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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 coupled FEM-SPH algorithm, discrete particles were used to model the zone of water, while the part of the AUV was modeled with finite elements. A contact algorithm couples the finite elements and the particles. Particular attention was paid to the influence of different head hemisphere angles and different initial conditions on the ricochet trajectory of the AUV. The critical conditions and influencing factors of the AUV ricochet phenomenon were given.
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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 (September 13, 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 influential factors. Due to the influence of the submarine, it can be difficult for the AUV to approach the submarine and be recovered safely. This study provides valuable insights into the hydrodynamic interaction between the AUV and the recovery device, and offers guidance for future submarine recovery operations involving AUVs. By considering the influence of the submarine’s position and motion, as well as other relevant factors, it may be possible to improve the stability, safety, and efficiency of AUV recovery operations.
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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 (January 5, 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 multi-AUV system formation under weak communication conditions, a formation consistent constraint controller algorithm for discrete-time leaderless multi-AUV system with double independent communication topology is proposed by introducing constraint operators. By using the properties of graph theory, random matrix and SIA matrix, and selecting appropriate controller parameters, the multi-AUV system formation can reach the defined consensus state. Furthermore, the unbounded communication delay of multi-AUV system formation is studied. Finally, the simulation results show that the proposed controller constraint algorithm is effective.
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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 architecture and the methods of the control system, and the results prove that the control system of the AUV is reliable, flexible and extensible.
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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 (December 22, 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 frequency relay point between an Autonomous Underwater Vehicle (AUV) and the ground station as well as to enhance the Acoustic Communication Link (ACL) with the AUV. In order to improve the quality of the ACL, a new Marine Multirobot System (MMRS) coordination strategy has been developed that aims to keep both vehicles close to each other. The entire system has been successfully designed, implemented, and tested in real marine environment robotic tasks. The experimental tests show satisfactory results both in ROS-based navigation architecture and the MMRS coordination strategy resulting in a significant improvement of the quality of the ACL.
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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 (May 7, 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 are intended to balance submarines and for active ballast systems on submarines so as to be able to dive and float as needed. In this paper an experimental study was carried out on a tube resembling AUV with both fresh water and sea water to obtain ballast volume in AUV.
Keywords: AUV, Active ballast, Experimental study
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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 (June 17, 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. Estimasi posisi dilakukan pada lintasan atau trayektori 3 dimensi (3D) yang dibangun dengan bantuan program Octave. Simulasi menampilkan hasil estimasi posisi AUV menggunakan algoritma EnKF dengan beberapa jumlah ensemble yang berbeda yaitu 50, 100, 200 dan 300 ensemble. Akurasi dari estimasi tersebut diukur dari nilai error hasil estimasi yaitu nilai RMSE (Root Mean Square Error). Hasil simulasi menunjukan rata-rata error estimasi yaitu 0.4 m posisi-x, 0.46 m posisi-y, 0.08 m posisi-z dan 0.1 m error sudut.
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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 (October 1, 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 target localization. The AUV formation consists of one high-precision piloting AUV and several low-precision following AUVs. The following AUVs are divided into two levels, the reference AUVs and the AUVs to be tested. According to the designed positioning period, the reference AUV receives the position parameters from a high-precision piloting AUV and transmits its own position parameters to the AUV to be measured. Then use the EKF to complete the cooperative position correction of the AUV cluster. In this paper, we will study the influence of heavy-tailed noise on this method and study the EKF based on Huber estimation to improve the antijamming capability.
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Kim, Jonghoek. "Wake-Responsive AUV Guidance Assisted by Passive Sonar Measurements." Journal of Marine Science and Engineering 12, no. 4 (April 11, 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, sharp maneuvers of the target can cause the AUV to exit the target’s wake abruptly. As the target ship’s wake is not detected by wake sensors and the AUV needs to search for the target ship, the AUV’s passive sonar measures the direction of sound generated from the target ship. Thereafter, the AUV chases the target ship until the target’s wake is detected again. As far as we know, our paper is novel in addressing wake-responsive AUV guidance assisted by passive sonar sensors. The effectiveness of the proposed guidance is verified using computer simulations.
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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 (March 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 (April 20, 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 direction and depth. We also confirmed that our algorithm to increase the reliability of ultrasonic communication worked without fail.
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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 reference for the next developing for AUV.
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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 (October 19, 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 event-triggered mechanism (ET) is designed to decrease the computational load, which is based on the error between the optimal predicted and current state of the AUV. Finally, the effectiveness and superiority of the proposed algorithm are confirmed via simulation and compared with those of other algorithms.
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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 (March 13, 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 limited autonomy and intelligence for the AUV. In this paper, we propose a novel autonomous online underwater object detection system for AUV based on side-scan sonar (SSS). This system encompasses both hardware and software components and enables AUV to perform simultaneous data acquisition and object detection for underwater objects, thereby providing guidance for coherent AUV underwater operations. Firstly, this paper outlines the hardware design and layout of a portable integrated AUV for reconnaissance and strike missions, achieving online object detection through the integration of an acoustic processing computer. Subsequently, a modular design for the software architecture and a multi-threaded parallel design for the software workflow are developed, along with the integration of the YOLOv7 intelligent detection model, addressing three key technological challenges: real-time data processing, autonomous object detection, and intelligent online detection. Finally, lake experiments show that the system can meet the autonomy and real-time requirements of predefined object detection on AUV, and the average positioning error is better than 5 m, which verifies the feasibility and effectiveness of the system. This provides a new solution for underwater object detection in AUV.
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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 (June 29, 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 controllers for AUVs. The first is making the AUV model achieve better stability using a more complex controller. The second is the simpler controller structure, which can ensure faster system feedback. The RBF and model reference adaptive control (MEAC) system are combined to increase the number of hidden layers, increasing the AUV tracking stability. Because the embedded computing module of an AUV is a bit limited, 31 hidden layers are chosen to simplify the controller structures. A couple of Lyapunov functions are designed for the expected surge and sway velocities, and the vehicle tracking error gradually converges to (0,0). The controller design results are imported into the AUV actuator model by software, and after 0.64 s, the AUV tracking error is less than 1%. At last, the vehicle tracking experiments were carried out, showing that after 0.5 s, the AUV tracking error was less than 1%.
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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 (June 17, 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 state estimation with that of an ideal observable matrix, it can be concluded that the estimation of state by standard EKF is inconsistent. Finally, aiming at the problem of inconsistent state estimation, a consistent EKF multi-AUV cooperative localization algorithm is designed. The algorithm corrects the linearized measurement values in the Jacobian matrix for cooperative positioning, ensuring that the linearized estimator can obtain accurate measurement values. The positioning results of the follower AUV under dead reckoning, standard EKF, and consistent EKF algorithms are simulated, analyzed, and compared with the real trajectory of the following AUV. The simulation results show that the follower AUV with a consistent EKF algorithm can keep synchronization with the leader AUV more stably.
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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 (July 27, 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 dynamics (CFD) method. Firstly, the mechanical structure of the portable AUV was briefly introduced, and the dynamic model of the AUV, including the hydrodynamic term, was established. Then, the unknown hydrodynamic coefficients in the dynamic model were estimated through the towing experiment and the plane-motion-mechanism (PMM) experiment simulation. In addition, considering that the portable AUV was affected by wave forces when cruising near the water surface, the influence of surface waves on the hydrodynamic performance of the AUV under different wave conditions and submerged depths was analyzed. Finally, the effectiveness of our method was verified by experiments on the standard models, and a physical experiment platform was built in this work to facilitate hydrodynamic performance investigations of some portable small-size AUVs.
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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 parameters and the drag of the fleet. Finally, a genetic algorithm (GA) is chosen to obtain the optimal layout parameters which correspond to the minimum drag. The optimization results show that (1) the total drag of the AUV fleet can be reduced by 12% when the follower AUV is located directly behind the leader AUV and (2) the drag of the follower AUV can be reduced by 66% when it is by the side of the leader AUV.
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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 (November 23, 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 HAS 4 (Heuristic Adaptive Sink Sensor Set Selection) algorithm to select the AUV-visited sensors for the purpose of energy saving, AUV cost reduction and network lifetime prolonging. By comparing HAS 4 with two benchmark selection methods, experiment results demonstrate that our algorithm can achieve a better performance.
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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 (January 8, 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 analyze the motion of the turbulence AUV, the dynamic model of turbulence AUV for planar flight is obtained. Then, the mathematical equations of speed and angle of attack under steady-state motion have also been obtained. By calculating the hydrodynamic coefficients of the turbulence AUV and given system parameters, the simulation analysis has been conducted. The simulation results demonstrated that the speed of turbulent AUV is 0.5–1 m/s, and the maximum angle of attack is less than 6.5°, which meets the observation requirements of the shear probe. In addition, turbulence AUV conducted a series of sea-trials in the northern South China Sea to illustrate the validity of the design and measurement. Two continuous profiles (1000 m) with a horizontal distance of 10 km were completed, and numerous high-quality spatiotemporal turbulence data were obtained. These profiles demonstrate the superior flight performance of turbulence AUV. Analysis shows that the measured data are of high quality, with the shear spectra being in very good agreement with the Nasmyth spectrum. Dissipation rates are consistent with background shear. When shear velocity is weak, the measurement of dissipation rate is 10−10 W Kg−1. All indications are that the turbulence AUV is suitable for long-term, contiguous ocean microstructure measurements, which will provide data needed to understand the temporal and spatial variability of the turbulent processes in the oceans.
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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 (January 28, 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 (CKF) for optimization and prediction of the position. We constructed a launch and recovery system (LARS) tracking and capturing the AUV. The system consists of the following parts: First, images are acquired via binocular cameras. Next, the relative position between the AUV and the end of the LARS was estimated based on the pixel positions of the tracking AUV feature points and binocular camera data. Finally, using a discrete proportion integration differentiation (PID) method, the LARS is controlled to capture the moving AUV via a CKF-optimized position. To verify the feasibility of our proposed system, we used the robot operating system (ROS) platform and Gazebo software to simulate the system for experiments and visualization. The experiment demonstrates that in the tracking process when the AUV makes a sinusoidal motion with an amplitude of 0.2 m in the three-dimensional space and the relative distance between the AUV and LARS is no more than 1 m, the estimated position error of the AUV does not exceed 0.03 m. In the capturing process, the final capturing error is about 28 mm. Our results verify that our proposed system has high robustness and accuracy, providing the foundation for future AUV recycling research.
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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 location, providing technical support for surface search and salvage operations of the disabled AUV. To the best of our knowledge, currently, there is no mature and effective method for predicting long-term AUV underwater drift trajectories. In response to this issue, based on real AUV catastrophes, this paper studies the prediction of long-term AUV underwater drift trajectories in the cases of power loss. We propose a three-dimensional trajectory prediction method based on the Lagrange tracking approach. This method takes the AUV's longitudinal velocity, the time taken to reach different depths, and ocean current data at various depths into account. The reason for the AUV's failure to ascend to sea surface lies that the remaining buoyancy is too small to overcome the thermocline. As a result, AUV drifts long time within the thermocline. To address this issue, a method for estimating thermocline currents is proposed, which can be used to predict the lateral drift trajectory of the AUV within the thermocline. Simulation is conducted to compare the results obtained by the proposed method and that in a real accident. The results demonstrate that the proposed approach exhibits small directional and positional errors. This validates the effectiveness of the proposed method.</p></abstract>
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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 (May 1, 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 development of industry standards for AUV interfaces will facilitate more rapid implementation of AUV capabilities and lead to more cost-effective, compatible system designs by AUV vendors and field hardware manufacturers. The development of regulatory standards for the interpretation and acceptance of autonomous inspection results is also an essential step toward the achievement of more cost-effective operations and regulatory oversight of deepwater subsea fields. This paper describes a future vision for the use of AUVs in deepwater field operations, the benefits to be realized, and the future capabilities of AUVs that must be anticipated and facilitated within AUV standards to achieve that vision. Additionally, this paper describes the goals and objectives of DeepStar Project 11304, which is laying the groundwork to achieve accelerated standardization of AUV interfaces and the development of regulatory standards for AUV inspections.
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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 (July 29, 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 release mechanism for attraction and revisiting pheromones is established by combining a neural excitation network algorithm to make the gradient spread in the pheromone grid map. By setting up a search revenue function based on real-time perception maps, an AUV search decision-making method is established. When the AUV finds a suspected target, the AUV approaches the suspected target. The path planning of the AUV is carried out through an improved artificial potential field method. The short-distance confirmation of the target and obstacle avoidance in the search process are realized. The simulation results show that the algorithm has high search efficiency. Additionally, when the target exists in a corner area, the probability of the AUV to quickly search for the target is fast and feasible.
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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 that forms the total drag which acted on the AUV surface. Drag was measured by using pull technique and simulation technique for AUV speed below 0.5ms-1. The results show that the recorded drag was between 9.0 x 10-4N and 1.8 x 10-1N. The trend line between the simulation data and experimental data has no significant difference and thus it shows that the simulation data were verified. Both results exhibits that the drag increase tremendously regarding to the AUV speed increment.
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Ru, Jingyu, Shuangjiang Yu, Hao Wu, Yuhan Li, Chengdong Wu, Zixi Jia, and Hongli Xu. "A Multi-AUV Path Planning System Based on the Omni-Directional Sensing Ability." Journal of Marine Science and Engineering 9, no. 8 (July 27, 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 involving candidate observation point calculation methods are suggested to adapt the O-AUV model. A voyage cost map is also built according to the multi-AUV path planning for a common submarine mission that must traverse numerous mission targets in complex environments through the R-Dijkstra algorithm. Specifically, the voyage planning problem is solved through a critical algorithm called ANSGA (accelerated NSGA-II algorithm), which in turn, is developed by modifying the non-dominated sorting genetic algorithm (NSGA-II) to accelerate the optimization rate for the Pareto solution. Experiments are carried out in MATLAB, and the results verify the validity of the proposed O-AUV+ANSGA algorithm framework.
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Kim, Jonghoek. "Autonomous Underwater Vehicle Localization Using Sound Measurements of Passing Ships." Applied Sciences 10, no. 24 (December 21, 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 IMU-only localization, we propose that the AUV localization uses sound measurements of passing ships whose trajectories are known a priori. As far as we know, this AUV localization method is novel in using sound measurements of passing ships of which the trajectories are known a priori. The performance of the proposed localization method is verified utilizing MATLAB simulations. The simulation results show significant estimation improvements, compared to IMU-only localization. Moreover, using measurements from multiple ships gives better estimation results, compared to the case where the measurement of a single ship is used.
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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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Yu, Yuna, Jing Zhang, and Tianchi Zhang. "AUV Drift Track Prediction Method Based on a Modified Neural Network." Applied Sciences 12, no. 23 (November 28, 2022): 12169. http://dx.doi.org/10.3390/app122312169.
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Since AUV works in the complex marine environment without cable and unmanned, there will be a loss of contact when an accident occurs. It is necessary to carry out research on the drift track prediction of AUV for the sake of salvage and recovery of the AUV in time. It is worth noting that the volume of AUV is small, and the drift track changes significantly when it is affected by the marine environment. Consequently, when the AUV drifts to different ocean layers, there will be a feature drift problem which will lead to a significant drop in the prediction accuracy. In this paper, a new method of AUV drift track prediction is proposed. Inspired by the human emotion modulation mechanism in psychology, a modified neural network (ECRNet) is proposed to correct the prediction error in different ocean layers. Through experimental verification, the network reduces the prediction error and achieves a better prediction performance.
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Chen, Ziyun, Dengsheng Zhang, Chengxiang Wang, and Qixin Sha. "Hybrid Form of Differential Evolutionary and Gray Wolf Algorithm for Multi-AUV Task Allocation in Target Search." Electronics 12, no. 22 (November 8, 2023): 4575. http://dx.doi.org/10.3390/electronics12224575.
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For underwater target exploration, multiple Autonomous Underwater Vehicles (AUVs) have shown significant advantages over single AUVs. Aiming at Multi-AUV task allocation, which is an important issue for collaborative work in underwater environments, this paper proposes a Multi-AUV task allocation method based on the Differential Evolutionary Gray Wolf Optimization (DE-GWO) algorithm. Firstly, the working process of the Multi-AUV system was analyzed, and the allocation model and objective function were established. Then, we combined the advantages of the strong global search capability of the Differential Evolutionary (DE) algorithm and the excellent convergence performance of Gray Wolf Optimization (GWO) to solve the task assignment of the Multi-AUV system. Finally, a reassignment mechanism was used to solve the problem of AUV failures during the task’s execution. In the simulation comparison experiments, the DE-GWO, GWO, DE, and Particle Swarm Optimization (PSO) algorithms were carried out for different AUV execution capabilities, respectively.
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Le, Thanh Long, Thuy Hang Vuong, and Trung Nghia Tran. "A computational fluid dynamics study on the design optimization of an autonomous underwater vehicle." Science and Technology Development Journal 24, no. 2 (May 13, 2021): 1962–66. http://dx.doi.org/10.32508/stdj.v24i2.2511.
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In this study, numerical computation is used to develop a physical model representing all important features of the Autonomous Underwater Vehicle's (AUV) shape using the finite element methods. Because the shape of the AUV is an essential factor in determining the application and the vehicle's capability, investigating the effect of the environment on this profile is needed. This paper illustrates using Computational Fluid Dynamics (CFD) to investigate the effect of fluid flow on the AUV's profile at different velocities. The results obtained from the numerical computation demonstrate some of the hydrodynamic values of the AUV's shape, such as drag force and stress. It is necessary for optimizing the design of an AUV. When the AUV moves, the maximum pressure occurs at the nose of an AUV.
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Ohki, Takeshi, Hitoshi Kakami, Yuya Nishida, Takeshi Nakatani, and Blair Thornton. "Development and Testing of an Unmanned Surface Towing System for Autonomous Transport of Multiple Heterogeneous Underwater Vehicles for Seafloor Survey." Marine Technology Society Journal 54, no. 5 (September 1, 2020): 61–71. http://dx.doi.org/10.4031/mtsj.54.5.10.
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AbstractSimultaneous operation of multiple autonomous underwater vehicles (AUVs) can increase seafloor mapping efficiency. However, AUVs typically rely on support vessels with an operations crew for transport to sites of interest and supervision during their dives. This is costly and limits the scalability of AUV-based seafloor mapping. This paper describes a robotic system that can transport AUVs from shore and deploy them in a survey area located offshore, without the need for a crewed support vessel. We clarify the functional requirements for ship-free AUV operations and propose a concept that allows a single autonomous surface vehicle (ASV) to transport, release, and monitor multiple large and heterogeneous AUVs. The proposed system uses towing modules that can be connected in parallel and can accommodate a variety of pre-existing ASVs and AUVs. A full-scale system was developed and tested during sea trials in the Mediterranean Sea off Greece, to verify basic functionality and gather data on the impact of towing multiple AUVs on ASV endurance and range. Results of these trials and lessons learned are discussed.
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Lv, Tu, Mingjun Zhang, and Yujia Wang. "Prediction-Based Region Tracking Control Scheme for Autonomous Underwater Vehicle." Journal of Marine Science and Engineering 10, no. 6 (June 3, 2022): 775. http://dx.doi.org/10.3390/jmse10060775.
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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 problems of overshoot and high energy consumption due to the lack of consideration of the large inertia of the AUV in the traditional scheme. The PRTC scheme predicts the future position of AUV through the past time-series position of AUV and the outer boundary of the desired region, and then designs the controller depending on the predicted results. Furthermore, the relationship between the desired region and the control output of the proposed PRTC scheme is studied. It is found that its control output amplitude is susceptible to the desired region range, resulting in output saturation. Therefore, this paper proposes a control law optimization scheme considering the desired region. This optimization scheme modifies the error signal in the control law of the PRTC scheme so that it is only related to the relative position of the desired region where the AUV is located. Finally, the proposed schemes are applied on the ODIN AUV, and the simulation results verify the feasibility of the proposed schemes.
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Patel, Ruben, Nils Olav Handegard, and Olav Rune Godø. "Behaviour of herring (Clupea harengus L.) towards an approaching autonomous underwater vehicle." ICES Journal of Marine Science 61, no. 7 (January 1, 2004): 1044–49. http://dx.doi.org/10.1016/j.icesjms.2004.07.002.
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AbstractThe reaction of schooling wintering herring (Clupea harengus L.) in Ofotfjord in northern Norway is studied when approached by an autonomous underwater vehicle (AUV) with electrical propulsion. The reaction of herring is recorded running the AUV in the beam of the mother vessel's 38-kHz echosounder and in more detail with an onboard 120-kHz echosounder. The results indicate an insignificant reaction of herring to the approaching AUV, although some variations were observed depending on the experimental set-up. Technical uncertainty in the recordings close to the AUV transducer creates some ambiguity in the results. No reaction could be identified from the ship's sounder when the AUV passed under the vessel. Processing of the onboard echosounder data suggests a mean avoidance distance of 8.0 m in these experiments. In a realistic autonomous survey situation it is assumed that the AUV can approach as closely as 5–10 m to herring schools without affecting the acoustic observation, which makes it a potentially useful platform for hydroacoustic research and survey. More systematic studies are needed to precisely define the threshold reaction distance to the AUV, and the work should be conducted with transducers on a more silent platform than RV “Johan Hjort”, which was used in this study.
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Kukshtel, Natalie, Ying-Tsong Lin, and Glen Gawarkiewicz. "Localization of an acoustic autonomous underwater vehicle using multi-channel back-propagation methods." Journal of the Acoustical Society of America 153, no. 3_supplement (March 1, 2023): A302. http://dx.doi.org/10.1121/10.0018933.
Full textAbstract:
Autonomous underwater vehicles (AUVs) are extremely useful tools for studying the acoustics of complex ocean environments due to their ability to detect environmental changes with greater spatial resolution than fixed moorings. During the New England Shelf Break Acoustics (NESBA) experiments in May 2021, an AUV system was deployed to collect acoustic data for investigating the local biological, physical, and geological oceanography. This acoustic AUV system was comprised of a modified REMUS 600 vehicle, a hull-mounted 3.5 kHz transducer, and a towed multi-channel hydrophone array. Along mission profiles where the AUV is fully submerged but too shallow for bottom-lock navigation, one challenge is accurate localization of the AUV. Localization was performed in post-processing using multi-channel back-propagation methods applied to AUV source signals received at mooring hydrophones in the NESBA network as well as ship-towed sound source signals received at the AUV-towed array. Uncertainty in the localization estimates due to spatiotemporal sound speed changes was investigated, and hydrophone mooring tilt angle was determined by minimizing the localization uncertainty. Following localization, this AUV acoustic data was used to investigate local seafloor sub-bottom properties and the acoustic effects of biological scattering layers and varying physical oceanography. [Work supported by the Office of Naval Research.]
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Huang, Ming Long, Yu Hong Liu, Hong Wei Zhang, and Bao Sheng Duan. "Influence of the Fins on the Static Stability of Autonomous Underwater Vehicle." Advanced Materials Research 694-697 (May 2013): 263–66. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.263.
Full textAbstract:
Fins, which are mounted at the rear of the underwater vehicles, have the action of stabilizing. X-fin and Cross-fin are two basic types of fins used in modern underwater vehicle. In the present paper, focused on the deep-sea autonomous underwater vehicle (AUV) developed by Tianjin University, influence of types and mounting positions of fins on the static stability (STS) of the AUV is investigated. Results show that AUV with Cross-fin has better STS and the mounting position of fins is the key influence on STS of AUV.