This paper describes the design aspects of an Autonomous Underwater Vehicle (AUV). The description includes detail mechanical design, software architecture, controllers and integration of various sensors. This AUV has been designed for a depth of 150 m with multi-thruster actuation for shallow water applications. Several sensors are used as feedback devices for the navigation, guidance and control of the vehicle. The AUV is also equipped with camera, CTD and side scan sonar as payload sensors. The simulation results have been discussed along with preliminary trial of the system.
Autonomous underwater robotic systems, designated AUVs, are gaining importance owing to their embedded advantages for applications like seabed mapping, coastal surveillance, mine countermeasure, and oceanographic measurements during adverse weather conditions. With no physical cable connection to the surface control station and possessing onboard intelligence and energy supply, an AUV carries payload for carrying out a specific task. The configuration and payload of an AUV depends on mission requirements. The communication is hybrid in nature - RF while on surface and acoustic while underwater. Mission requirements and the use of payloads sometimes dictate the size and configuration of the AUV that can both be open or close frame. The motion in various directions of AUV are obtained through thrusters or/and controlled surfaces/hydroplanes/fins (Song and Folleco, 2003; Licht, Polidoro, Flores, Hover and Triantafyllou 2004; Barros, Pascoal and Sa, 2004). Autonomous intelligent control and navigation play important roles in the efficient AUV operation. The AUV takes certain decisions intelligently for execution of the mission and for situation-dependent dynamic obstacle avoidance. Different researchers are using various approaches for proper AUV navigation through efficient path planning embedded with proper control of actuation systems. (Lam and Ura, 1996; Craven, Sutton and Burns, 1998; Wang, Lane and Falconer, 2000; Kim and Choi, 2004; Doherty, 2004; Petres, Pailhas, 2007).
