This paper describes recent results in mission execution, andpost mission data analysis from the NPS AUV II testbed underwatervehicle. Ongoing research is focused on control technology to meetthe needs of future Naval Autonomous Underwater Vehicles. Thesevehicle are unmanned, untethered, free swimming, roboticsubmannes to be used for Naval missions including search,mapping, surveillance, and intervention activity. The approachtaken at NPS combines integrated computer simulation, real timerobust control theory, computer architecture and code development,vehicle and component design and experimentation, sonar dataanalysis and data visualization.
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