Recent advances in differential geometry have given rise to the field of geometric control theory. To increase the functionality of these autonomous systems, we focus on de- veloping model-based control strategies for the survey missions around challenging regions, such as the bulbous bow region of a ship. Despite the progresses made, human intervention is still necessary at this stage. ![]() In recent years, engineers and researchers have been collaborating on automating ship hull inspections by employing autonomous ve- hicles. The motion planning problem is mo- tivated by the practical application of surveying the hull of a ship for implications of harbor and port security. In this paper, we present a control strategy design technique for an au- tonomous underwater vehicle based on solutions to the motion planning problem derived from differential geometric methods. A number of future research directions are also highlighted. Key technology areas have been identified and step-by-step development is presented in conjunction with the need to meet the challenge of underwater vehicle operation. The paper reports the design, development and testing efforts of underwater vehicle that have been conducted at Institut Teknologi Bandung. The challenge of the deep water exploration has been the complex issues associated with hazardous and unstructured undersea and sea-bed environments. The needs for the mapping, exploration, and environmental preservation of the vast marine resources are therefore imperative. As an archipelagic nation with more than 13,000 islands, Indonesia has one of the most abundant living and non-organic oceanic resources. This capability is especially valuable for countries with major water or oceanic resources. The underwater robotics technology has enabled human to access the depth of the ocean to conduct environmental surveys, resources mapping as well as scientific and military missions. ![]() The last decade has witnessed increasing worldwide interest in the research of underwater robotics with particular focus on the area of autonomous underwater vehicles (AUVs).
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