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Tao Xia, Hang Li, Haitao Yu, Yangfei Zhang and Pengfei Hu
The wireless charging system (WCS) is widely employed to solve the problem of underwater charging of autonomous underwater vehicles (AUVs). However, the AUV is prone to misalignment caused by the tidal currents, which directly leads to fluctuations in tr...
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Jiawen Li, Yujia Wang, Haiyan Li, Xing Liu and Zhengyu Chen
Ocean currents, mechanical collisions and electronic damage can cause faults in an autonomous underwater vehicle (AUV), including sensors and thrusters. For such problems, this paper designs a fault-tolerant controller that is independent of the results ...
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Jianya Yuan, Mengxue Han, Hongjian Wang, Bo Zhong, Wei Gao and Dan Yu
Collision avoidance planning has always been a hot and important issue in the field of unmanned aircraft research. In this article, we describe an online collision avoidance planning algorithm for autonomous underwater vehicle (AUV) autonomous navigation...
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Haibing Wen, Peng Wang, Jiayuan Li, Jiadong Yang, Kehan Zhang, Lei Yang, Yaopeng Zhao and Xiangqian Tong
In order to solve the problem of power transmission efficiency reduction resulting from misalignment in the Wireless Power Transfer (WPT) system for Autonomous Underwater Vehicle (AUVs), a novel coupling structure with strong tolerance to misalignment is...
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Xi Lyu, Yushan Sun, Lifeng Wang, Jiehui Tan and Liwen Zhang
This study aims to solve the problems of sparse reward, single policy, and poor environmental adaptability in the local motion planning task of autonomous underwater vehicles (AUVs). We propose a two-layer deep deterministic policy gradient algorithm-bas...
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Yuan Lin, Jin Guo, Haonan Li, Hai Zhu, Haocai Huang and Ying Chen
The hydrodynamic performance of a novel hovering autonomous underwater vehicle, the autonomous underwater helicopter (AUH), with an original disk-shaped hull (HG1) and an improved fore?aft asymmetric hull (HG3), is investigated by means of computational ...
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Laughlin D. L. Barker and Louis L. Whitcomb
This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-...
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Lin Yu, Qinghao Meng and Hongwei Zhang
To achieve rapid and flexible vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle (MJ-AUV) with orthogonal joints was designed. This paper focuses on the 3-dimensional (3D) modeling and attitude control...
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Yu-Hsien Lin, Shao-Yu Chen and Chia-Hung Tsou
This study investigated the development of visual recognition and stereoscopic imaging technology, applying them to the construction of an image processing system for autonomous underwater vehicles (AUVs). For the proposed visual recognition technology, ...
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Ross Eldred, Johnathan Lussier and Anthony Pollman
This article details the design, construction and implementation of a novel, spherical unmanned underwater vehicle (UUV) prototype for operations within confined, entanglement-prone marine environments. The nature of shipwreck interiors, the exploration ...
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Bo Wang and Tijing Cai
Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions...
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Yevgeni Gutnik, Aviad Avni, Tali Treibitz and Morel Groper
This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AU...
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Sung Mo Koo, Henry Travis and Timothy Sands
This study determines the threshold for the computational rate of actuator motor controllers for unmanned underwater vehicles necessary to accurately follow discontinuous square wave commands. Motors must track challenging square-wave inputs, and identif...
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Valery Bobkov, Alexey Kudryashov and Alexander Inzartsev
The use of an autonomous underwater vehicle (AUV) to inspect underwater industrial infrastructure requires the precise, coordinated movement of the AUV relative to subsea objects. One significant underwater infrastructure system is the subsea production ...
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Brij Kishor Tiwari and Rajiv Sharma
The design process for Variable Buoyancy System (VBS) is not known in full, and existing approaches are not scalable. Furthermore, almost all the small size Autonomous Underwater Vehicles/Gliders (AUVs/G?s) use very low capacity of buoyancy change (in th...
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Ngo Van Hien, Ngo Van He, Van-Thuan Truong and Ngoc-Tam Bui
In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), th...
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John H. Eiler, Thomas M. Grothues, Joseph A. Dobarro and Rahul Shome
Using autonomous underwater vehicles equipped with telemetry-based payload control to locate marine fish tagged with acoustic transmitters.
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Jimin Hwang, Neil Bose and Shuangshuang Fan
Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Ad...
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Meiyan Zhang, Wenyu Cai, Qinan Xie and Shenyang Xu
As we know, for autonomous robots working in a complex underwater region, obstacle avoidance design will play an important role in underwater tasks. In this paper, a binocular-vision-based underwater obstacle avoidance mechanism is discussed and verified...
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Ðula Nad, Filip Mandic and Nikola Mi?kovic
SCUBA diving activities are classified as high-risk due to the dangerous environment, dependency on technical equipment that ensures life support, reduced underwater navigation and communication capabilities all of which compromise diver safety. While au...
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