# Guidance of an Autonomous Underwater Vehicle in Special Situations

## TL;DR

This paper presents a guidance system for the autonomous underwater vehicle 'DeepC' designed to handle special situations like obstacle evasion and identification, considering underwater environmental challenges and sensor limitations.

## Contribution

It introduces strategies for obstacle evasion and identification tailored to underwater conditions, addressing sensor and maneuverability challenges.

## Key findings

- Developed guidance strategies for obstacle evasion and identification.
- Addressed underwater environmental challenges such as sea currents and sensor limitations.
- Enhanced vehicle maneuverability in 3-D space.

## Abstract

This article describes a guidance system of the autonomous underwater vehicle "DeepC" [1] in Special situations. A special situation occurs when one or more objects interfere with the planned route of a mission. The possible reactions are evasion or identification of the objects. The paper presents these two tasks in overview. The special demands challenges of the underwater environment, computer parameters, sensors and the maneuverability of the vehicle are considered in the selection and development of the required strategies. Such challenges include the sea current, maneuver in the 3-D space and the limited perceptive faculty of the sonar.

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Source: https://tomesphere.com/paper/1702.08107