Biomimetic behaviour based underwater control

The proposed controller´s main task is to accomplish a safe diving autonomous operation under certain constraints, typically met in Autonomous Underwater Vehicles´ (AUV) missions. AUV´s behaviour follows a biomimetic approach inspired by the everyday routine of the majority of underwater living creatures. Several phases of this routine seem to play an important role in sustaining creatures´ vitality and, as a rule, are present among their distinct physical behaviours. These phases of underwater life routine was the basis for the proposed controller´s design. The developed controller succeeds to maintain vessel´s energy level, assuring safety and self preservation. In the same time it explores the surrounding area in search for possible targets-preys and is alerted for the detection of potential threats. This control method was extensively tested inside an indoors laboratory underwater experimentation area of 1m³ using Ale III, a compact custom made prototype AUV.