Experimental verification for the control system of intelligent underwater vehicle

Abstract

This paper introduces an intelligent underwater vehicle and describes the architecture of the control system, especially the mission execution module. An artificial neural network is used to deal with the nonlinear dynamics of underwater vehicle and the unpredictable disturbances. Performances of the system on motion control, autonomous navigation and obstacle avoidance were tested by a series of experiments in a lake. The results show that the performance of the system was stable and reliable.