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1、4GuidanceLawsforAutonomousUnderwaterVehiclesMortenBreivik1andThorI.Fossen1,21CentreforShipsandOceanStructures2DepartmentofEngineeringCyberneticsNorwegianUniversityofScienceandTechnologyNorway1.IntroductionAbout70%ofthesurfaceoftheEarthiscoveredbyoceans,andtheoceanspacerepre
2、sentsavastchamberofnaturalresources.Inordertoexploreandutilizetheseresources,humankinddependsondevelopingandemployingunderwatervehicles,notleastunmannedunderwatervehicles(UUVs).Today,UUVsencompassremotelyoperatedvehicles(ROVs)andautonomousunderwatervehicles(AUVs).ThefirstRO
3、Vswerebuiltinthe1950s,putintocommercialuseinthe1980s,andaremostlyusedtodaybytheoffshoreoilandgasindustrytocarryoutinspectionandinterventionoperationsatsubseainstallations(Antonellietal.2008).Thesevehiclesareteleoperatedbyconnectiontoasurfacevesselthroughanumbilicalcablethat
4、providesthemwithpowerandtelemetry.Inparticular,thedependenceonatetherrepresentsaconsiderablechallengeforROVdeepwateroperations(Whitcomb2000).Ontheotherhand,AUVsarefree-swimmingvehiclesthatrelyontheirownenergysupply.ThefirstAUVswerebuiltinthe1970s,putintocommercialuseinthe19
5、90s,andtodayaremostlyusedforscientific,commercial,andmilitarymappingandsurveytasks(Blidberg2001).DevelopedincooperationbetweenKongsbergMaritimeandtheNorwegianDefenceResearchEstablishment,theHUGINseriesrepresentsthemostcommerciallysuccessfulAUVseriesontheworldmarkettoday(Hag
6、enetal.2003).HUGINvehicleshavebeenemployedforcommercialapplicationssince1997andformilitaryapplicationssince2001.TheworkhorseHUGIN3000hasanimpressive60hoursenduranceat4knotsspeedwithpayloadsensorsrunning.Currently,themainchallengesforAUVsencompassendurance,navigation,communi
7、cation,andautonomyissues.Traditionally,ROVsandAUVshavebeenassigneddifferenttasksduetodifferentstrengthsandweaknesses,seeFig.1.Inthefuture,hybridROV/AUVdesignsareexpectedtobridgethegapbetweenthesetwomainUUVtypes,utilizingthebestofbothworlds(Wernli2000).Regardingmotioncontrol
8、researchforUUVs,Cravenetal.(1998)giveanoverviewofmoderncontrolapproacheswithanemph
