%0 Journal Article 
%A García Córdova, Francisco
%A Guerrero González, Antonio
%T Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle
%D 2013
%@ 1729-8814
%U http://hdl.handle.net/10317/5113
%X In this paper, an intelligent navigation system for
an unmanned underwater vehicle powered by renewable
energy and designed for shadow water inspection in
missions of a long duration is proposed. The system is
composed of an underwater vehicle, which tows a surface
vehicle. The surface vehicle is a small boat with
photovoltaic panels, a methanol fuel cell and
communication equipment, which provides energy and
communication to the underwater vehicle. The underwater
vehicle has sensors to monitor the underwater
environment such as sidescan sonar and a video camera in
a flexible configuration and sensors to measure the
physical and chemical parameters of water quality on
predefined paths for long distances. The underwater
vehicle implements a biologically inspired neural
architecture for autonomous intelligent navigation.
Navigation is carried out by integrating a kinematic
adaptive neuro‐controller for trajectory tracking and an
obstacle avoidance adaptive neuro‐  controller. The
autonomous underwater vehicle is capable of operating
during long periods of observation and monitoring. This
autonomous vehicle is a good tool for observing large areas
of sea, since it operates for long periods of time due to the
contribution of renewable energy. It correlates all sensor
data for time and geodetic position. This vehicle has been
used for monitoring the Mar Menor lagoon.
%K Ingeniería de Sistemas y Automática
%K Vehículos submarinos
%K Underwater Vehicles
%K Redes neuronales
%K Neural Network
%K Energía solar
%K Solar energy
%~ GOEDOC, SUB GOETTINGEN