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.
Bibliographical noteFunding 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.
© 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