Development of an Autonomous Underwater Vehicle for Target Acquisition

  • Leong Wai Lunn Alexander
  • Khalid IsaEmail author
  • Herdawatie Abdul Kadir
  • Radzi Ambar
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 538)


Autonomous Underwater Vehicle (AUVs) are unmanned, self-propelled vehicles that are typically deployed from a surface vessel and can operate independently of that vessel for periods of a few hours to several days. This project discusses the development of an autonomous underwater vehicle (AUV) to detect an object underwater through a vision sensor. In this project, the horizontal motion of the AUV is controlled by two thrusters which are placed at the side of the AUV with the guidance of a digital magnetic compass to control the direction of the AUV. The vertical motion of the AUV is controlled by a thruster located in the middle of the AUV with the assistance of a depth sensor to ensure the AUV stays submerged underwater. A Pixy CMU cam5 is used as the vision sensor of the AUV with the function of detecting an object underwater through its specific colour code. When the sensor detects an object, the AUV automatically moves towards to the object without requiring any operator. The AUV is tested in a swimming pool to test its ability to stay submerge underwater as well as its functionality to navigate and detect object underwater. The simulation and experimental results show that the AUV able to operate and acquire targets successfully.


Autonomous underwater vehicle Target acquisition Vision sensor 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Leong Wai Lunn Alexander
    • 1
  • Khalid Isa
    • 1
    Email author
  • Herdawatie Abdul Kadir
    • 1
  • Radzi Ambar
    • 1
  1. 1.Faculty of Electrical and Electronic EngineeringUniversiti Tun Hussein Onn MalaysiaParit Raja, Batu PahatMalaysia

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