The recent development of advanced processing capabilities and higher yield power supplies means that Autonomous Underwater Vehicle (AUVs) are finding novel and increasingly advanced applications in research, military and commercial settings.
This timely book provides a state-of-the-art overview of AUV design and practice. Focusing on the interplay between design and practice, it comprehensively covers control and navigation, communication and cooperation, and methodologies and applications where AUVs are used for education, research, biological and oceanographic studies, surveillance purposes, and military, security, and industrial tasks. The book covers key concepts for maritime engineers and navigation researchers and professionals, and is a useful reference for control and robotics researchers working on AUVs.
- Part I: Control
- Chapter 2: Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation
- Chapter 3: Sensor-based motion control of autonomous underwater vehicles, part II: robust motion control strategies
- Chapter 4: Adaptive–robust control of autonomous underwater vehicle with unknown system dynamics
- Part II: Navigation
- Chapter 5: AUV navigation: challenges and solutions
- Chapter 6: Ultra-endurance AUVs: energy requirements and terrain-aided navigation
- Chapter 7: A simplified version of SLAM: data compression and data association for common UUV missions
- Part III: Toolset
- Chapter 8: Toolchain for autonomous systems and its use in real-life scenarios: from science to defence
- Chapter 9: Telemetry for AUVs
- Chapter 10: Pressure-tolerant and pressure-neutral systems for AUV
- Part IV: Cooperation
- Chapter 11: Optimization of waterspace management and scheduling for multiple unmanned vehicles
- Chapter 12: MONSUN: a swarm AUV for environmental monitoring and inspection
- Chapter 13: Reconfigurable, adaptable, multi-modality, mobile, wireless, energy-efficient, underwater sensor network of hover-capable AUVs
- Part V: Methodology
- Chapter 14: Task specification and behavior verification for UUV behavior design
- Chapter 15: Advanced AUV fault management
- Chapter 16: Designing, building and testing a fleet of novel AUV under the elevated requirements of an XPRIZE competition
- Part VI: Application
- Chapter 17: AUV navigation, guidance, and control for geoseismic data acquisition
- Chapter 18: Adaptive sampling and energy-efficient navigation in time-varying flows
- Chapter 19: Summary, conclusions, and future work
Bundeswehr Technical Center for Ships and Naval Weapons, Maritime Technology and Research (WTD 71), Germany.
Frank Ehlers (PhD) has been working as a scientist, project manager, program manager and principal scientist in German and international research institutes dealing with maritime technology for more than 20 years. Currently he is working as Principal Scientist at the Bundeswehr Technical Center for Ships and Naval Weapons, Maritime Technology and Research (WTD 71) in Germany. His recent activities focus on the topic of Autonomy and Mobile Sensors, as associate editor for journals and as chair, member-at-large, and external evaluator in international research groups, panels, and organisations.