The Nerov Autonomous Underwater Vehicle

The Norwegian Experimental Remotely Operated Vehicle (NEROV) inexpensive. is described. The vehicle is designed and built at the Division of Engineering Cybernetics, Norwegian Institute of Technology (NTH). The NEROV vehicle is an unmanned autonomous underwater vehicle (AUV) especially designed for testing advanced intelligent and conventional control algorithms. The vehicle is autonomous with respect to both energy and information. The vehicle will (MOBATEL) project at NTH. In teleoperation it is desirable to remove the non-minimum phase behaviour i.e. the time delay in the communication channel caused by e.g. a hydroacoustic communication link. This suggests a modellbased control structure. The vehicle is currently being tested in the Towing Tank and the Ocean Basin Laboratory at the Norwegian Marine Technology Research Institute (MARINTEK) in Trondheim, Norway. also be used in the Modellbased Teleoperation

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