Abstract
In this paper a real-time navigation system for Autonomous Underwater Vehicles (AUVs) is presented. The navigation system is designed to allow fulfillment of a completely autonomous mission of AUVs in unknown and unstructured environments. Two reference missions are considered, namely pipeline/cable inspection and bottom exploration; their accomplishment requires the use of both heteroceptive and proprioceptive sensors. The motion planner provides on-line path generation with obstacle avoidance capabilities, while taking into account the non-holonomic motion constraints of the vehicle and the constant cruise requirement for proper sensor functioning. In addition, it must handle the effects of the ocean current on the vehicle dynamics. Extensive dynamic simulations of a vehicle in different unknown environments, subject to ocean current, have proven the effectiveness of the proposed navigation system.
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