The project V-fides: A new generation AUV for deep underwater exploration, operation and monitoring

The proposed work is in the framework of the V-Fides project, aiming at developing a new generation of agile, over-actuated, long endurance Autonomous Underwater Vehicles, for deep underwater exploration, operation and monitoring. The project is co-funded by Tuscany Region (Italy) and is developed by a team lead by WASS S.p.A. (Whitehead Sistemi Subacquei, Livorno) with the participation of several partners including two research institutions of the University of Pisa and Small-Medium Enterprises in the Pisa-Livorno area. The vehicle is a general purpose, 3000m depth rated underwater vehicle with highly maneuverability capabilities, which can operate both as AUV and ROV. The vehicle is equipped with seven thrusters, with asymmetric input-output characteristic, and with a sensors payload for autonomous navigation, composed by: a tactical grade Inertial Measurement Unit (IMU), a Doppler Velocity Logger (DVL), a depth sensor, a magnetic compass and an acoustic modem for underwater communication and localization. This contribution gives an overview of the developed general architecture of the Navigation and Control module of the vehicle, from the algorithmic and system implementation stand-points.