Adaptive sensor fusion applied to autonomous underwater vehicle navigation - part 2

Abstract

Autonomous underwater vehicles, AUVs, have been widely applied to missions in the fields of oceanography, support to the oil exploration industry, and military applications. For more than one decade, the Unmanned Vehicles Laboratory investigates unmanned aquatic vehicles. In particular, the Pirajuba AUV was created and proposed for a number of studies regarding this kind of technology and its applications in shallow waters (depths up to 100m). This research project approaches one of the main bottlenecks related to the improving and the establishimen of the AUV to a number of applications. That is the AUV navigation system. It is proposed the continuation of the former research project funded by Fapesp (proc. 2018/14024-2), for improving the study of the adaptive techniques, including a new one based on fading factors, and starting the investigation of dynamic model added combined with adaptive techniques. This phase of research is also important for the opportunity of carrying out field experiments that were not possible during the former investigation due to the Covid pandemic impact. (AU)