Autonomous Underwater Vehicle (AUV) which could finish autonomous mission process is paid more and more attention. As an artificial intelligence system, AUV has high independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an important roll in achieving those properties. A newly developed AUV, ZT-AUV, which is used for ocean exploring, is introduced. And its basic control system architecture is depicted. Both the hardware and software in the control system are described. Finally, the experiments in tank and those at sea are conducted to test the architecture and the methods of the control system, and the results prove that the control system of the AUV is reliable, flexible and extensible.
AFFORDABLE DEEP OCEAN EXPLORATION WITH A HOVERING AUTONOMOUS UNDERWATER VEHICLE - Odyssey IV: a 6000 meter rated, cruising and hovering AUV
