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Keywords: autonomous underwater vehicle
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Proceedings Papers

Paper presented at the The 33rd International Ocean and Polar Engineering Conference, June 19–23, 2023
Paper Number: ISOPE-I-23-270
... method pid method work-class rov disturbance propeller autonomous underwater vehicle qsm domain Proceedings of the Thirty-third (2023) International Ocean and Polar Engineering Conference Ottawa, Canada, June 19-23, 2023 Copyright © 2023 by the International Society of Offshore and Polar...
Proceedings Papers

Paper presented at the The 29th International Ocean and Polar Engineering Conference, June 16–21, 2019
Paper Number: ISOPE-I-19-176
... ABSTRACT In this paper, an improved genetic algorithm (GA) is proposed for the global three-dimensional (3D) path planning of an under-actuated autonomous underwater vehicle (AUV) with a static environment and obstacles. The kinematics of under-actuated AUV is studied, and various constraints...
Proceedings Papers

Paper presented at the The 28th International Ocean and Polar Engineering Conference, June 10–15, 2018
Paper Number: ISOPE-I-18-378
...3D Space Obstacle Avoidance System for a Large-Scale Autonomous Underwater Vehicle Ben Li1 , Guanxue Wang1, Guohua Xu1 , Xin Zhang1, Han Xu2 1 Underwater Technology Laboratory, School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology Wuhan, Hubei Province...
Proceedings Papers

Paper presented at the The 28th International Ocean and Polar Engineering Conference, June 10–15, 2018
Paper Number: ISOPE-I-18-040
... hydrodynamic model for vehicle, and it proves to be an effective modeling approach for underwater vehicle, like Autonomous Underwater Vehicle(AUV) and Remote Operated Vehicle(ROV). However, the researchers have to confront with the difficulty of determining the key matrix items in vehicle model accurately(Yang...
Proceedings Papers

Paper presented at the The 26th International Ocean and Polar Engineering Conference, June 26–July 2, 2016
Paper Number: ISOPE-I-16-342
... Abstract The utility of present autonomous underwater vehicles (AUVs) is limited by their on-board energy storage capability. And it is an inevitable trend to obtain economic, all-weather energy power supply from the local marine renewable energy for the underwater equipment. In this paper...
Proceedings Papers

Paper presented at the The Twenty-fifth International Ocean and Polar Engineering Conference, June 21–26, 2015
Paper Number: ISOPE-I-15-309
... equivalent control fuzzy reaching law sigmoid function motion point auv autonomous underwater vehicle mode control structural control smfrl overshoot controller subsystem signal function simulation result underwater vehicle fuzzy logic Research on Novel Improved Sliding Mode Control...
Proceedings Papers

Paper presented at the The Twenty-fifth International Ocean and Polar Engineering Conference, June 21–26, 2015
Paper Number: ISOPE-I-15-691
... Abstract Various methods to achieve docking between an autonomous underwater vehicle and an underwater docking station have been proposed. Enabling underwater docking can provide a significant increase in the range and endurance of autonomous underwater vehicles, which can lessen the need...
Proceedings Papers

Paper presented at the The Twenty-fourth International Ocean and Polar Engineering Conference, June 15–20, 2014
Paper Number: ISOPE-I-14-232
... Abstract The autonomous underwater vehicle (AUV) was designed and simulated its hydrodynamic behavior in order to serve as shallow coral monitoring system for coastal area of Thailand. The torpedo shape was selected to be the main body of the vehicle due to high speed and maneuverability...
Proceedings Papers

Paper presented at the The Twentieth International Offshore and Polar Engineering Conference, June 20–25, 2010
Paper Number: ISOPE-I-10-415
... ABSTRACT This paper proposes a new immune genetic algorithm and applies it to generate local paths for an autonomous underwater vehicle (AUV) when it fails to avoid abrupt obstacles by reactive behaviors. The algorithm mixes both immune algorithm and genetic algorithm through introducing niche...
Proceedings Papers

Paper presented at the The Twentieth International Offshore and Polar Engineering Conference, June 20–25, 2010
Paper Number: ISOPE-I-10-371
... ABSTRACT The purpose of this study is to develop a scheme to improve the stability and efficiency of the propulsion for a biomimetic autonomous underwater vehicle (BAUV). A three-segment BAUV propelled by a flapping tail fin is considered. The BAUV with actuated fin motions and sensors...
Proceedings Papers

Paper presented at the The Nineteenth International Offshore and Polar Engineering Conference, July 21–26, 2009
Paper Number: ISOPE-I-09-528
... There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conducting surveys concerning...
Proceedings Papers

Paper presented at the The Nineteenth International Offshore and Polar Engineering Conference, July 21–26, 2009
Paper Number: ISOPE-I-09-227
... is estimated. Then its 3D CAD model is modified to the position and matched with the landmark in image. Experimental landmark was fabricated and tank tests were carried out to evaluate the performance of the proposed landmark. INTRODUCTION AUVs(Autonomous Underwater Vehicles) have been successfully...
Proceedings Papers

Paper presented at the The Nineteenth International Offshore and Polar Engineering Conference, July 21–26, 2009
Paper Number: ISOPE-I-09-515
... Autonomous Underwater Vehicles (AUV's) provide an important means for collecting detailed scientific information from the ocean depths. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a design method using...
Proceedings Papers

Paper presented at the The Eighteenth International Offshore and Polar Engineering Conference, July 6–11, 2008
Paper Number: ISOPE-I-08-290
... ABSTRACT There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conducting surveys...
Proceedings Papers

Paper presented at the The Eighteenth International Offshore and Polar Engineering Conference, July 6–11, 2008
Paper Number: ISOPE-I-08-128
... ABSTRACT This paper addresses sonar image's automatic object recognition method for AUVs (Autonomous Underwater Vehicles). The sonar images are severely changed depending on its poses. We propose active sonar image's template updating method. Depending on the pose, a predictor modifies...
Proceedings Papers

Paper presented at the The Seventeenth International Offshore and Polar Engineering Conference, July 1–6, 2007
Paper Number: ISOPE-I-07-480
... a navigation and control system for a biomimetic-autonomous underwater vehicle (BAUV) to track a target. A Bayesian method, using an extended Kalman filter, combining localization and environmental mapping by a BAUV is implemented. This strategy selects the best sensor measurement by choosing one of several...
Proceedings Papers

Paper presented at the The Seventeenth International Offshore and Polar Engineering Conference, July 1–6, 2007
Paper Number: ISOPE-I-07-006
... The concept of multiple Autonomous Underwater Vehicles (AUVs) cooperatively performing a mission offers several advantages over single vehicles working in a non-cooperative manner such as increased efficiency, performance, reconfigurability, robustness and the emergence of new capabilities...

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