Abstract
Abstract In the paper review of unmanned underwater vehicle (AUV) is presented. The description of main systems is depicted with focus on autonomous single vehicle as well as a swarm. As a consequence of development of AUV technology, research centers are focused on issues related to increasing the degree of their autonomy. Nowadays, mostly navigation and communication as well as high-efficient propeller systems are being developed. There are problems linking this issues. Their solutions includes development of new control laws containing algorithms to prevent collisions - for unmanned vehicles with elements of the underwater environment and for several underwater vehicles cooperating with each other in a swarm.
Highlights
This discovery was a milestone in the process of development of the underwater vehicle technology
Simultaneous Localization and Mapping (SLAM) based navigation systems dominate in fully autonomous vehicle navigation systems
2.2 Visual localization The visual method uses cameras as sensors. Main challenge of this method is to develop an algorithm for the purpose of interpreting images from the camera in order to use it for navigation - determining route by recognizing obstacles along the way
Summary
On-board equipment, weighing 45 630 kg AUV, includes over 20 tons of various types of systems ensuring full autonomy for several months and covering total distance of 6500 nm This was done by optimizing the use of highly efficient 18 kW power source, which supplies energy to the on-board measurement and propulsion systems. The development of modern technologies brings with it an increase of costs, as well as the degree of system complexity, which not all users will be able or willing to afford For this reason, currently research on vehicles specialized in specific solutions is dominating. The other way of navigation is modeling dynamics of motion with 6 DoF (Degrees of Freedom) and mathematical determination of object’s trajectory The advantage of this approach is resistance to the influence of external disturbances, because navigation is based on the simulation results and do not rely on the measurement of environmental parameters with the independent sensors. SLAM based navigation systems dominate in fully autonomous vehicle navigation systems
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