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In the other hand, the controlling of the gravity point of AUV for maintaining a fixed position of gravity of the AUV when submerging and surfacing are the main factors of the paper that is also investigated in this paper. Finally, the motor of the propeller or thruster that always spends a great energy has committed only for forward or backward motion of the AUV. In this measure, the motor of thruster does not confronted with a great consummation of energy when submerging and surfacing in an oblique direction as almost all popular measures of control of AUV. 1–9 |
