{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T09:35:26Z","timestamp":1778751326188,"version":"3.51.4"},"reference-count":50,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2018,4,17]],"date-time":"2018-04-17T00:00:00Z","timestamp":1523923200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions.<\/jats:p>","DOI":"10.3390\/s18041241","type":"journal-article","created":{"date-parts":[[2018,4,18]],"date-time":"2018-04-18T03:51:13Z","timestamp":1524023473000},"page":"1241","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6355-7955","authenticated-orcid":false,"given":"Ivan","family":"Masmitja","sequence":"first","affiliation":[{"name":"SARTI research group, Electronics Department, Universitat Polit\u00e8cnica de Catalunya, 08800 Vilanova i la Geltr\u00fa, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Julian","family":"Gonzalez","sequence":"additional","affiliation":[{"name":"SARTI research group, Electronics Department, Universitat Polit\u00e8cnica de Catalunya, 08800 Vilanova i la Geltr\u00fa, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cesar","family":"Galarza","sequence":"additional","affiliation":[{"name":"SARTI research group, Electronics Department, Universitat Polit\u00e8cnica de Catalunya, 08800 Vilanova i la Geltr\u00fa, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9765-2176","authenticated-orcid":false,"given":"Spartacus","family":"Gomariz","sequence":"additional","affiliation":[{"name":"SARTI research group, Electronics Department, Universitat Polit\u00e8cnica de Catalunya, 08800 Vilanova i la Geltr\u00fa, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1484-8219","authenticated-orcid":false,"given":"Jacopo","family":"Aguzzi","sequence":"additional","affiliation":[{"name":"Marine Science Institute (ICM), Consejo Superior de Investigaciones Cient\u00edfica (CSIC), 08003 Barcelona, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joaquin","family":"Del Rio","sequence":"additional","affiliation":[{"name":"SARTI research group, Electronics Department, Universitat Polit\u00e8cnica de Catalunya, 08800 Vilanova i la Geltr\u00fa, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,4,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2851","DOI":"10.5194\/bg-7-2851-2010","article-title":"Deep, diverse and definitely different: Unique attributes of the world\u2019s largest ecosystem","volume":"7","author":"Brandt","year":"2010","journal-title":"Biogeosciences"},{"key":"ref_2","first-page":"235","article-title":"Challenges to the assessment of benthic populations and biodiversity as a result of rhythmic behaviour: Video solutions from cabled observatories","volume":"50","author":"Aguzzi","year":"2012","journal-title":"Oceanogr. 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