AMOUR V: A hovering energy efficient underwater robot capable of dynamic payloads

In this paper we describe the design and control algorithms of AMOUR, a low-cost autonomous underwater vehicle (AUV) capable of missions of marine survey and monitoring. AMOUR is a highly maneuverable robot capable of hovering and carrying dynamic payloads during a single mission. The robot can carry a variety of payloads. It uses internal buoyancy and balance control mechanisms to achieve power efficient motions regardless of the payload size. AMOUR is designed to operate in synergy with a wireless underwater sensor network (WUSN) of static nodes. The robots payload was designed in order to deploy, relocate and recover the static sensor nodes. It communicates with the network acoustically for signaling and localization and optically for data muling. We present control algorithms, navigation algorithms, and experimental data from pool and ocean trials with AMOUR that demonstrate its basic navigation capabilitrials with AMOUR that demonstrate its basic navigation capabilities, power efficiency, and ability to carry dynamic payloads.