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Xishuang Li, Lejun Liu, Bigui Huang, Qingjie Zhou and Chengyi Zhang
Autonomous Underwater Vehicle (AUV)-based multibeam bathymetry, sub-bottom profiles, and side-scan sonar images were collected in 2009 and 2010 to map the geomorphic features along the axial zone of a canyon (referred to as C4) within the canyon system d...
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Xi Lyu, Yushan Sun, Lifeng Wang, Jiehui Tan and Liwen Zhang
This study aims to solve the problems of sparse reward, single policy, and poor environmental adaptability in the local motion planning task of autonomous underwater vehicles (AUVs). We propose a two-layer deep deterministic policy gradient algorithm-bas...
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Haibing Wen, Peng Wang, Jiayuan Li, Jiadong Yang, Kehan Zhang, Lei Yang, Yaopeng Zhao and Xiangqian Tong
In order to solve the problem of power transmission efficiency reduction resulting from misalignment in the Wireless Power Transfer (WPT) system for Autonomous Underwater Vehicle (AUVs), a novel coupling structure with strong tolerance to misalignment is...
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Jianya Yuan, Mengxue Han, Hongjian Wang, Bo Zhong, Wei Gao and Dan Yu
Collision avoidance planning has always been a hot and important issue in the field of unmanned aircraft research. In this article, we describe an online collision avoidance planning algorithm for autonomous underwater vehicle (AUV) autonomous navigation...
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Jiawen Li, Yujia Wang, Haiyan Li, Xing Liu and Zhengyu Chen
Ocean currents, mechanical collisions and electronic damage can cause faults in an autonomous underwater vehicle (AUV), including sensors and thrusters. For such problems, this paper designs a fault-tolerant controller that is independent of the results ...
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Tao Xia, Hang Li, Haitao Yu, Yangfei Zhang and Pengfei Hu
The wireless charging system (WCS) is widely employed to solve the problem of underwater charging of autonomous underwater vehicles (AUVs). However, the AUV is prone to misalignment caused by the tidal currents, which directly leads to fluctuations in tr...
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Bo Wang and Tijing Cai
Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions...
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Junsen Wang, Yulin Tang, Shaohua Jin, Gang Bian, Xinyang Zhao and Chengyang Peng
Given the lack of systematic research on bathymetric surveys with multi-beam sonar carried by autonomous underwater vehicles (AUVs) in unfamiliar waters, this paper proposes a method for multi-beam bathymetric surveys based on the constant-depth mode of ...
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Chunmeng Jiang, Jinhua Lv, Lei Wan, Jianguo Wang, Bin He and Gongxing Wu
The classic S-plane control method combines PD structure with fuzzy control theory, with the advantages of a simple control structure and fewer parameters to be adjusted. It has been proved as a practical method in an autonomous underwater vehicle (AUV) ...
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Jiqing Du, Dan Zhou, Wei Wang and Sachiyo Arai
The Deep Reinforcement Learning (DRL) algorithm is an optimal control method with generalization capacity for complex nonlinear coupled systems. However, the DRL agent maintains control command saturation and response overshoot to achieve the fastest res...
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