On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions

Yevgeni Gutnik, Aviad Avni, Tali Treibitz, Morel Groper

Research output: Contribution to journalArticlepeer-review


This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV’s maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.

Original languageEnglish
Article number974
JournalJournal of Marine Science and Engineering
Issue number7
StatePublished - Jul 2022

Bibliographical note

Funding Information:
This research was funded by the Leona M. and Harry B. Helmsley Charitable Trust, the Maurice Hatter Foundation, the Murray Foundation, the Israel Ministry of National Infrastructures, Energy and Water Resources Grant No. 218-17-008, and the Israel Ministry of Science, Technology and Space Grant No. 3-12487.

Publisher Copyright:
© 2022 by the authors.


  • dynamics of underwater vehicles
  • hovering autonomous underwater vehicle (AUV)
  • hydrodynamic coefficients
  • path following
  • thruster allocation
  • underwater imaging
  • visual survey

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Water Science and Technology
  • Ocean Engineering


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