Autonomous underwater vehicle system trajectory tracking in Xingda harbor

Underwater data collection by using Autonomous Underwater Vehicles (AUVs) is increasing within the oceanographic research community. AUVs are remarkable machines that processed data for gathering local bathymetric information, which have been developed, investigated and utilized for various purposes. In this study, the Iver2 AUV is examined to accomplish location mapping by well-planned trajectory while executing missions. The goal is to collect a large-scale Xingda harbor side-scan data. Therefore, in this study, the Iver2 AUV configured by Taiwan Ocean Research Institute (TORI) and built by OceanServer is discussed. The Iver2 performs routine operations at sea surface; all the components are rated to 100 meters.