Optimization of an Autonomous Underwater Vehicle for Enhanced Stability

AUVs have essential applications in oceanic investigations, environmental characterization, and subsea surveys where accuracy in positioning and stability for navigation is challenging. AUV proposed in the present work addresses these issues by utilizing a novel thruster configuration and an underwater adaptive control scheme for stability. The thruster layout helps the AUV to maneuverers in six degrees of freedom. The system uses an Adaptive PID controller, that adjusts the control parameters in real-time, which allows for a smooth and efficient running of the process as the environment changes. The AUV integrates sensor fusion, adaptive control and propulsion design. This work demonstrates a feasible and robust approach suitable for future AUV missions which requiring precision, versatility and reliability.