AUV for Shallow Water Applications - some Design Aspects

摘要

This paper describes the design aspects of an Autonomous Underwater Vehicle (AUV). The description includes detail mechanical design, software architecture, controllers and integration of various sensors. This AUV has been designed for a depth of 150 m with multi-thruster actuation for shallow water applications. Several sensors are used as feedback devices for the navigation, guidance and control of the vehicle. The AUV is also equipped with camera, CTD and side scan sonar as payload sensors. The simulation results have been discussed along with preliminary trial of the system.