Autonomous navigation algorithm for underwater vehicles in channel detection

We have designed an Autonomous Underwater Vehicle (AUV) and developed an autonomous navigation algorithm specifically for channel inspection. We employ a fuzzy PID controller for heading control. The algorithm allows the vehicle to follow the channel centerline steadily. It features two modes: surface mode, where the vehicle communicates in real-time with the upper computer to send commands and receive sensor data, and underwater mode, where the vehicle submerges for a period and then automatically surfaces. This approach addresses the challenge of signal loss during extended underwater operations, thereby enhancing detection efficiency and improving safety.