**Part 3**

**Mission Planning and Analysis** 

170 Autonomous Underwater Vehicles

The financial support of this research from the Australian Government's Flagship Collaboration Fund through the CSIRO Wealth from Oceans Flagship Cluster on Subsea

Fossen, T. I. (1994). *Guidance and Control of Ocean Vehicles*, John Wiley & Sons, Inc., ISBN 0-

Fossen, T. I. (2002). *Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles* (1), Marine Cybernetics, ISBN 82-92356-00-2, Trondheim, Norway Fossen, T. I., Johansen, T. A. & Perez, T. (2009). A Survey of Control Allocation Methods for

<http://www.intechopen.com/articles/show/title/a\_survey\_of\_control\_allocatio

Healey, A. J. & Lienard, D. (1993). Multivariable Sliding Mode Control for Autonomous

Jalving, B. (1994). The NDRE-AUV Flight Control System. *IEEE Journal of Oceanic* 

Kokegei, M., He, F. & Sammut, K. (2008). Fully Coupled 6 Degrees-of-Freedom Control of

Kokegei, M., He, F. & Sammut, K. (2009), Nonlinear Fully-Coupled Control of AUVs, *Society of Underwater Technology Annual Conference*, Perth, Australia, 17-19 February Lammas, A., Sammut, K. & He, F. (2010). 6-DoF Navigation Systems for Autonomous

Lammas, A., Sammut, K. & He, F. (2008), Improving Navigational Accuracy for AUVs using the MAPR Particle Filter, *MTS/IEEE Oceans '08*, Quebec City, Canada, 15-18 September Marco, D. B. & Healey, A. J. (2001). Command, Control, and Navigation Experimental

Palmer, A., Hearn, G. E. & Stevenson, P. (2009). Experimental Testing of an Autonomous

Prestero, T. (2001a), Development of a Six-Degree of Freedom Simulation Model for the

Prestero, T. (2001b). *Verification of a Six-Degree of Freedom Simulation Model for the REMUS* 

the Woods Hole Oceanographic Institution, Cambridge and Woods Hole Yoerger, D. R. & Slotine, J.-J. E. (1985). Robust Trajectory Control of Underwater Vehicles. *IEEE Journal of Oceanic Engineering*, Vol. 10, No. 4, (October), pp. (462-470), ISSN 0364-9059

*Engineering*, Vol. 18, No. 3, (July), pp. (327-339), ISSN 0364-9059

navigation-systems-for-autonomous-underwater-vehicles>

4, (October), pp. (466-476), ISSN 0364-9059

*Propulsors*, Trondheim, Norway, 22-24 June

Durham, NH, 26-29 August

*Engineering*, Vol. 19, No. 4, (October), pp. (497-501), ISSN 0364-9059

Underwater Vehicles, In: *Underwater Vehicles*, Inzartsev, A. V., pp. (109-128), In-

Diving and Steering of Unmanned Underwater Vehicles. *IEEE Journal of Oceanic* 

Autonomous Underwater Vehicles, *MTS/IEEE Oceans '08*, Quebec City, Canada,

Underwater Vehicles, In: *Mobile Robots Navigation*, Barrera, A., pp. (457-483), In-Teh, Retrieved from <http://www.intechopen.com/articles/show/title/6-dof-

Results with the NPS ARIES AUV. *IEEE Journal of Oceanic Engineering*, Vol. 26, No.

Underwater Vehicle with Tunnel Thrusters, *First International Symposium on Marine* 

REMUS Autonomous Underwater Vehicle, *12th International Symposium on Unmanned Untethered Submersible Technology*, University of New Hampshire,

*Autonomous Underwater Vehicle*. Master of Science in Ocean Engineering and Master of Science in Mechanical Engineering, Massachusetts Institute of Technology and

**6. Acknowledgements** 

**7. References** 

Pipelines is acknowledged and appreciated.

Tech, Retrieved from

September 15-18

471-94113-1, Chichester, England

n\_methods\_for\_underwater\_vehicles>

**0**

**8**

*Australia*

**Short-Range Underwater Acoustic**

This chapter discusses the development of a short range acoustic communication channel model and its properties for the design and evaluation of MAC (Medium Access Control) and routing protocols, to support network enabled Autonomous Underwater Vehicles (AUV). The growth of underwater operations has required data communication between various heterogeneous underwater and surface based communication nodes. AUVs are one such node, however, in the future, AUV's will be expected to be deployed in a swarm fashion operating as an ad-hoc sensor network. In this case, the swarm network itself will be developed with homogeneous nodes, that is each being identical, as shown in Figure 1, with the swarm network then interfacing with other fixed underwater communication nodes. The focus of this chapter is on the reliable data communication between AUVs that is essential to

A simple 2-dimensional (2D) topology, as shown in Figure 1(b), will be used to investigated swarm based operations of AUVs. The vehicles within the swarm will move together, in a decentralised, self organising, ad-hoc network with all vehicles hovering at the same depth. Figure 1(b) shows the vehicles arranged in a 2D horizontal pattern above the ocean floor

AUV 7

AUV 4

Inter-node Range (m)

AUV 8

AUV 1

**1. Introduction**

exploit the collective behaviour of a swarm network.

(a) AUV Swarm demonstrating stylised

SeaVision©vehicles

Fig. 1. Swarm Architecture

**Communication Networks**

Depth (m)

(b) 2D AUV Swarm Topology

AUV 5

AUV 2

AUV 9

AUV 3

AUV 6


Gunilla Burrowes and Jamil Y. Khan

*The University of Newcastle*
