Design, Implementation, and Characterization of a Novel Positive Buoyancy Autonomous Vehicle

A Survey on Unmanned Underwater Vehicles: Challenges, Enabling Technologies, and Future Research Directions

“…A diving system's performance is measured by synchronizing the required energy with the resulting buoyancy. It uses the δ i = (i t W − i b W) approach, where δ i is a coefficient attitude-dependent magnitude of the moment produced by any offset between the center of mass (i t ) and buoyancy (i b ), and (W) is the weight of the vehicle [15,19]. This statement is supported by the simulation results shown in Figure 7.…”

“…A herd of UUVs in the mission scenario consists of three types, each distinguished by its propulsion and dive system. The first UUV is propelled by propellers on all sides, referred to as omnidirectional [15][16][17], and is able to move in any direction to maximize its efficiency. The Buoyancy force generated by the object expressed in newton (N), Bouyancy can be represented as:…”

“…Wang et al [15][16][17] Omnidirectional propulsion and dive system A system that allows UUV free to move to all directions in underwater Shi et al [22] Hydrojet propulsion and dive system Allows the UUV to capable of operating in surface and underwater environments Zhang et al [21] Undulating propulsion and dive system UUV can move in an ideal fluid with a constant velocity Saback et al [24,68] MPC algorithm Capable to optimize control of UUV based on the prediction Qiao et al [25] Sliding mode control algorithm Considers simpler logical systematics but can withstand disturbances and uncertainties Chu et al [69] Deep reinforcement learning control base Control system based on the nervous system with the ability to make decisions based on training and past learning experience in recognizing the environment Wolek et al [30] Use of fusion sensors Make UUV have the ability to recognize the environment, detect the presence of underwater objects, or detect the presence of fellow UUV herds Song et al [34] Use of optical sensors Accurately used to recognize the environment based on image capture Braginsky et al [42] Localization using DVL method Can compute velocity and direction UUV using acoustic-beam Perea-Strom et al [43] Localization using GPS-GNSS UUV localization using GPS-GNSS, while currently only being able detect USV, will, in the future, be applicable for types of UUV after the discovery of air-water boundaries communication technology Baik et al [51][52][53] Supply of power Potential renewable energy based on fuel cell, solar, wind, wave, thermal, and tidal current energy…”

“…The propulsion system and dive system allow the UUV to move and control its depth in the water [15]. To propel the vehicle through the viscosity of water, one or more thrusters are used [16,17].…”

Dynamic Modeling and Optimal Control of a Positive Buoyancy Diving Autonomous Vehicle

“…These widely used marine equipment mainly include marine survey vessels, Remotely Operated Vehicles (ROVs) [1,2], Autonomous Underwater Gliders (AUGs) [3], AUVs [4,5,6], USVs [7,8,9], etc. The positive buoyancy diving autonomous vehicle [10] is proposed, which combines the features of USV and AUV and better meets the needs of surface and underwater measurement and monitoring in the same time scale. As shown in Table 1, the maximum net displacement mass/total displacement mass of traditional underwater vehicles such as AUVs and AUGs ranges from 0.3% to 1.08%.…”