An AUV Simulator For Test And Development Of A Behavior Based Architecture

Debugging and development phases of Autonomous Underwater Vehicles (AUVs) pose some problems in wet tests. This is mainly due to the environment where they evolve being so harsh, making it difficult even to observe the vehicles. Thus indirect observation, by cameras, or divers is usual, but not efficient for a short development cycle. Further recovery of the vehicle in case of failures (something bound to be frequent in the debugging phase) may be very difficult. Adding to this we still have to consider the high costs of auxiliary support equipment, involving in most cases a surface vessel. In this way the test and development using simulators, while not substituting wet tests in a further phase of development, prove to be essential in early stages, to avoid the more evident errors. In spite of this reasoning being extensive to all areas involved in the development of an AUV, our interest in the simulator lies essentially in the support for development of the vehi