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Open Access Decoupled modelling and controller design for the hybrid autonomous underwater vehicle: MACO

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Abstract:

Researchers at the University of Victoria have developed a hybrid autonomous underwater vehicle (AUV) named MACO capable of 3-D station keeping and manoeuvring without forward velocity. This makes it suitable to perform many of the tasks traditionally accomplished by remotely-piloted underwater vehicles. Once operational, MACO was used in a Defence Research and Development Canada (DRDC) feasibility study for using AUVs to support rapid deployment of acoustic element arrays. The AUV was required to stop and hover, while triggering a low frequency sound source. The performance of MACO during these sea trials is presented as the conclusion to this paper.

Keywords: AUTONOMOUS UNDERWATER VEHICLE; AUV TESTING; DYNAMIC MODELLING; HYBRID UNDERWATER VEHICLE

Document Type: Research Article

DOI: https://doi.org/10.3723/175605407782724979

Publication date: 2007-02-01

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