MARIN has designed and built a modular autonomous underwater vehicle (mAUV). The vehicle serves as a platform for research projects on autonomous vehicles, which are carried out in our model basins. The modular design enables future extensions with additional sensors and actuators. The design of the vehicle and its control system is aimed at combining capabilities for position keeping (zero speed) and track sailing (medium and high speed). The vehicle is controlled in all 6 degrees of freedom, without any a priori limitations.
The following two papers discuss the design and construction of the vehicle as well as the control design of the mAUV. Both papers were presented at the IFAC-CAMS 2019, Deajeon, Korea.