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Based on the need for high resolution underwater visual surveys, this studypresents the adaptation of an existing SPARUS II autonomous underwater vehicle(AUV) into an entirely hovering AUV fully capable of performing autonomous,close range imaging survey missions. This paper focuses on the enhancement ofthe AUVs maneuvering capability (enabling improved maneuvering control),implementation of an state of the art thruster allocation algorithm (allowingoptimal thrusters allocation and thrusters redundancy), and the development ofan upgraded path following controller to facilitate precise and delicatemotions necessary for high resolution imaging missions. To facilitate thevehicles adaptation, a dynamic model is developed. The calibration process ofthe dynamic model coefficients initially obtained using well accepted formulas,by computational fluid dynamics and in real sea experiments is presented. Thein house development of a pressure resistant imaging system is also presented.This system which includes a stereo camera and high power lightning strobes wasdeveloped and fitted as a dedicated AUV payload. Finally, the performance ofthe platform is demonstrated in an actual seabed visual survey mission.

On the modification of the SPARUS II AUV for close range imaging survey platform