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Cascaded guidance, state estimation, and control for depth tracking of underactuated autonomous underwater vehicles. [PDF]

Commun Eng
Qu Y, Zhang Q, Xiang X, Yang S, Cai L.
europepmc   +1 more source

Autonomous pathfinding for underactuated AUVs using FDHNN. [PDF]

Sci Rep
Chen M, Li H, Feng L, Zhu D.
europepmc   +1 more source

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Simulation and control of an unmanned underwater vehicle

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002
This paper presents activities in the field of underwater robotics carried out at the Naval Automation Institute of the Italian National Research Council. The ultimate goal is the development of an autonomous underwater vehicle for research purposes. A bottom-up approach has been adopted and efforts are focused on the automation of undersea tasks.
Riccardo Bono, Massimo Caccia, Gianmarco Veruggio   +2 more
openaire   +2 more sources

Underwater floor pattern matching with an unmanned underwater vehicle

2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015
The localization of unmanned underwater vehicle (UUV) is important for the UUV to inspect or manipulator objects. We assume that there is an UUV with a camera sensor and the UUV uses the underwater floor pattern for localization. Because the pattern is known beforehand, the pattern matching between the pattern image and the camera image lets the UUV ...
Jung-Tae Kim, Hyung-Joo Kang, Min-Kyu Kim, Sung-Mun Hong, Ji-Hong Li, Min-Jae Kim   +5 more
openaire   +1 more source

VITA1: An Unmanned Underwater Vehicle Prototype for Operation in Underwater Tunnels

2021 IEEE International Systems Conference (SysCon), 2021
New technologies have pushed Unmanned Underwater Vehicles use in the industry where the focus is often oil and gas applications and, high end systems. Operation in broad underwater tunnels where water turbidity is high, make it difficult to orient Observation Class UUVs inside them.
Vitor A. M. Jorge, Pedro Daniel de Cerqueira Gava, Juan Ramon Belchior de França Silva, Thais Mancilha, Waldir Vieira, Geraldo José Adabo, Cairo L. Nascimento Jr.   +6 more
openaire   +2 more sources

Neuro-control of unmanned underwater vehicles

International Journal of Systems Science, 2006
Unmanned underwater vehicles (UUVs) typically operate in uncertain and changing environments. Since the dynamics of UUVs are highly nonlinear and their hydrodynamic coefficients vary with different operating conditions, a high-performance control system of a UUV is needed to have the capacities of learning and adaptation to the variations in the UUV's ...
openaire   +1 more source

Guidance of unmanned underwater vehicles: experimental results

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002
This paper addresses the problem of guidance of unmanned underwater vehicles (UUVs). In the framework of a two layered hierarchical architecture decoupling the system dynamics and kinematics, two guidance laws for approaching a target with the desired orientation and following an environmental feature have been designed with Lyapunov-based techniques ...
Massimo Caccia, Gabriele Bruzzone, Gianmarco Veruggio   +2 more
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Sonar-based guidance of unmanned underwater vehicles

Advanced Robotics, 2001
This paper addresses the problem of the design and coordination of guidance and sonar-based motion estimation algorithms for unmanned underwater vehicles. In the framework of a two layered hierarchical architecture uncoupling the system's dynamics and kinematics, a couple of guidance laws for approaching a target with the desired orientation and ...
Caccia M, Bruzzone G, Veruggio G
openaire   +4 more sources