Biomimetic behaviour based underwater controlBiomimetic behaviour based underwater control Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2015-11-042014enThe proposed controller's main task is to accomplish a safe diving autonomous operation under certain constraints, typically met in Autonomous Underwater Vehicles' (AUV) missions. AUV's behaviour follows a biomimetic approach inspired by the everyday routine of the majority of underwater living creatures. Several phases of this routine seem to play an important role in sustaining creatures' vitality and, as a rule, are present among their distinct physical behaviours. These phases of underwater life routine was the basis for the proposed controller's design. The developed controller succeeds to maintain vessel's energy level, assuring safety and self preservation. In the same time it explores the surrounding area in search for possible targets-preys and is alerted for the detection of potential threats. This control method was extensively tested inside an indoors laboratory underwater experimentation area of 1m3 using Ale III, a compact custom made prototype AUV. http://creativecommons.org/licenses/by-nc-sa/4.0/764-772Control and Automation (MED), 2014 22nd Mediterranean Conference ofPiperidis_et_al_MED__2014.pdfChania [Greece]Library of TUC2015-11-04image/jpg1.5 MBfree Piperidis Savvas Πιπεριδης Σαββας Tsourveloudis Nikolaos Τσουρβελουδης Νικολαος Institute of Electrical and Electronics Engineers Υποβρύχιο ρομποτικό σκάφος Autonomous underwater robot Unmanned vehicles Vehicles--Radio control vehicles remotely piloted unmanned vehicles vehicles radio control Behaviour based control Βιομιμητική συμπεριφορά Biomimetics