Control System Design Based on Multi-Sensors Fusion for AUV

As AUV systems are becoming more complex, distributed, and integrated, there is the need to build sophisticated frameworks to embody intelligence in AUV. This paper presents a sensor-based software architecture for the integration of AUV platforms with multi-sensors systems where data fusion is relevant. The architecture is based on an existing software platform that is able to fulfill capabilities by using multi-sensors fusion. The results of simulation provide that the entire control system architecture has been successfully developed.