Autonomous underwater vehicle nav-igation

This paper surveys the problem of navigation for autonomous underwater vehicles (AUVs). Marine robotics technology has undergone a phase of dramatic increase in capability in recent years. Navigation is one of the key challenges that limits our capability to use AUVs to address problems of critical importance to society. Good navigation information is essential for safe operation and recovery of an AUV. For the data gathered by an AUV to be of value, the location from which the data has been acquired must be accurately known. The three primary methods for navigation of AUVs are (1) dead-reckoning and inertial navigation systems, (2) acoustic navigation, and (3) geophysical navigation techniques. The current state-of-the-art in each of these areas is summarized, and topics for future research are suggested.

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