The development of autonomous underwater vehicle based survey and sampling capabilities for coastal exploration

The Ocean Engineering Department at Florida Atlantic University and the University of South Florida are developing a variety of vehicle and sensor system technologies for coastal exploration as part of an AOSN test range. FAU has developed and operates 4 AUVs, the Ocean Voyager II and three of the Ocean Explorer series vehicles. The distinguishing feature of the Ocean Explorer series vehicle is its modular design which enables field reconfiguration and the cost effective support for multiple payloads. FAU and USF are developing a variety of acoustic, chemical, and optical sensors for these vehicles. This piper outlines some of FAU's research efforts related for the development of AUV technology for coastal exploration tasks in support of the AOSN project. Results from these efforts are presented such as the integration of DGPS and DVL, sensors for extended navigation range and accuracy, self motion tests in controlled waves, and sensor tests of an SBL navigation system for docking.