Autonomous Underwater Vehicles and Field of View in Underwater Operations

Abstract

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

Метод Послідовних Наближень Для Знаходження Оптимального Розподілу Потоків Вимірюваної Інформації В Мережі Наземних Станцій Супутникових Радіонавігаційних Систем

“…Для великих телекомунікаційних мереж, особливо якщо необхідно перерозподіляти інформаційні потоки, або застосовувати динамічне керування потоками в мережі при швидкозмінних умовах, будемо використовувати метод послідовних наближень рішення до оптимального [3,4].…”

Rules governing swarm robot in continuum mechanics

“…Autonomous underwater vehicles (AUVs) are becoming increasingly important in submarine work [21][22][23][24][25]; in particular, the category of robot swarms is gaining momentum due to its robustness peculiarities. The tool we are proposing is based on the application of the flocking rules we applied on an underwater robotic swarm.…”

A wireless power transfer system for an autonomous underwater vehicle based on lightweight universal variable ring‐shaped magnetic coupling

“…In recent years, autonomous underwater vehicles (AUVs) have become a hot research topic in the field of marine engineering due to their significant applications 1–3 . Although AUVs have excellent maneuverability and flexibility, the limited energy of the batteries they carry does not allow them to perform continuous work over a long period of time and over a large area 4–6 . Wireless power transfer (WPT) is a new energy supply method that can compensate for these drawbacks and give AUVs a new level of performance 7–9 …”

“…[1][2][3] Although AUVs have excellent maneuverability and flexibility, the limited energy of the batteries they carry does not allow them to perform continuous work over a long period of time and over a large area. [4][5][6] Wireless power transfer (WPT) is a new energy supply method that can compensate for these drawbacks and give AUVs a new level of performance. [7][8][9] WPT was first applied in the air medium, mainly for wireless charging of electric vehicles, 10 wireless charging of medical electronic pacemakers, 11 and wireless charging of smart tailless homes.…”