Survey of fault diagnosis and accommodation of unmanned underwater vehicles

Abstract

In the last years, the use of unmanned underwater vehicles in various applications such as monitoring, inspection and surveillance of underwater facilities, has been significantly increased. The mission success depends heavily on the ability to diagnose, isolate and accommodate faults that may occur in the thrusters and sensors of the vehicles during the operation. This paper presents an overview on the methods employed for thruster and sensor fault detection, isolation and accommodation of underwater robotic vehicles. © 2018 CEUR-WS. All Rights Reserved.