Path Planning and Motion Analysis of an Autonomous Underwater Robot

Abstract

Autonomous underwater vehicles are becoming essential naval strategy for saving human life resources which are being risked in deadly and dangerous oceanic tasks of various scientific, civil, military as well as commercial applications. Due to AUVs dynamic, the autonomous control of underwater vehicles faces many difficulties. As the AUVs dynamics are highly non-linear and vary with respect to time. It is difficult to estimate the vehicle’s hydrodynamic coefficients because of the variations of dynamic behaviours with different navigation conditions and disturbances. Hence, research on navigational methodologies of submerged robot with modelling of robot or mapping of environment has received immense interest.