The Nautilus-Sub Autonomous Underwater Vehicle

摘要

The Nautilus-Sub (NautaSub) Autonomous Underwater Vehicle is designed and developed byrna group of undergraduate engineering students at the University of West Florida for the 5thrnInternational Autonomous Underwater Vehicle Competition organized and sponsored by thernAssociation for Unmanned Vehicle Systems International (AUVSI) and the Office of NavalrnResearch (ONR). The autonomous submarine has the ability to navigate in three dimensionsrnunder the control of an on-board computer with several sensors for guidance and navigation,rntarget detection, identification, and location. The mission for this year’s competition is tornlocate and identify underwater objects and measure their depth. This article offers a generalrndescription of the Nautasub, its drive and guidance system, its sensor suite, and the controlrnmethodology chosen to accomplish the tasks required by the specifications of the competition.