From ROVs to AUVs – Optimization and Analysis of Underwater Vehicles Design

摘要

Underwater vehicles are capable of relieving humans of task execution in hazardous environments, such as seas or oceans. Elevated pressure, poor visibility and the importance of structural tightness are just a few factors that must be considered during the design and later in the implementation phase. In this paper, a comparative analysis of the underwater robot design steps is shown using the example of the PWr Diving Crew project, where simplified Remotely Operated Vehicles (ROVs) were improved to Autonomous Underwater Vehicles (AUVs) with enhanced environment perception and capability of autonomous task performance. Robots’ characteristics and the altered approach to the problem in successive vehicle generations are described, and the conclusions on the structure optimization are drawn based on the experience gained in the process.