Design of a Buoyancy Controllable AUV by changing volume for data collection in the water column

In this paper, we propose an AUV system design, named as Buoyancy Controllable AUV (BCA). The AUV is designed to smoothly explore narrow terrains, such as canyons or valleys, where existing AUVs have difficulties in performing missions. The AUV is in high electrical efficiency because it uses a new type of buoyancy regulator for the up and down movements, which frequently occur in the water column examination. In order to explore narrow terrains, it requires recognition and precise motion control abilities. The following technologies ensure endurance and accurate path following with high electrical efficiency; 1) buoyancy regulator, 2) pitch-rotate mechanism, and 3) motion pattern using both IMU and sonar sensors.