This paper addresses a novel hovering type AUV(Autonomous Underwater Vehicle) system for precision optical and acoustic visual data collection task. The vehicle design focused on the precision localization and maneuverability to acquire the data. The concept of the proposed vehicle system and hardware, software details are described. In order to maximizes the system's flexibility and minimizes the maintenance load, a specific pressure hull structure and the body design were adopted. Indoor tanks test and sea trials were carried out to demonstrate the proposed vehicle's performance and the system's efficiency.

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