A Robust Fuzzy Autonomous Underwater Vehicle (AUV) Docking Approach for Unknown Current Disturbances

Teo, Ken; An, Edgar; Beaujean, Pierre‐Philippe

doi:10.1109/joe.2011.2180058

Cited by 102 publications

(41 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This technique has demonstrated very satisfactory docking performance in extensive Monte Carlo simulations in the presence of different water current conditions with various orientations and locations of the docking station [22]. Fig.…”

Section: Local Fuzzy Mapmentioning

confidence: 96%

Fuzzy Docking Guidance Using Augmented Navigation System on an AUV

Teo

Goh

Chai

2015

IEEE J. Oceanic Eng.

Self Cite

View full text Add to dashboard Cite

A fundamental successful docking operation requires the autonomous underwater vehicle (AUV) to be able to guide, navigate, and control itself into the docking station in a strategic manner and even possibly execute different maneuvers at different mission phases, depending on docking scenario, requirements, and homing sensor type. A docking station, due to environmental or mission requirements, is possibly oriented at a specific direction instead of allowing omnidirectional homing, and necessitates vehicle docking in only this direction. Depending on the operating environment, either wave or current presence or both can result in a dominating disturbance to the vehicle docking operation. In this work, an inverted ultrashort baseline (USBL) system is used as the main homing sensor to complement the existing navigation suite on the DSO-developed AUV. A docking guidance system was designed and implemented using the Sugeno fuzzy inference system (FIS). A desired heading vector field and the fuzzy rules were developed to perform the fuzzy docking maneuver. An error-state Kalman filter (KF) was designed, formulated, and implemented successfully on the AUV and has proven to perform excellent relative positioning estimation in sea trials. A software architecture was designed for the docking algorithms, and implemented onto a single board computer in the AUV. A sensor fusion approach to the software programming was adopted to ensure that navigation data from all navigation sensors are properly acquired and synchronized. A docking station was designed and eventually deployed at sea for docking trials. Successful AUV docking attempts at sea trials were demonstrated, thus showing the effectiveness of the implemented docking algorithms.

show abstract

Section: Local Fuzzy Mapmentioning

confidence: 96%

Fuzzy Docking Guidance Using Augmented Navigation System on an AUV

Teo

Goh

Chai

2015

IEEE J. Oceanic Eng.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Meanwhile, the movement on each minor segment can be determined according to (13) and ( ) of the major segment can be obtained by their combination.…”

Section: Collision Predictionmentioning

confidence: 99%

“…The initial and final vectors of 1 and 2 are → 1 , → (0) and → (0), → 2 , respectively, where → (0) is the initial pose of the robot following the semicircular segment. The movements on 1 and 2 can be determined according to (13) and ( ) can be obtained by their combination. Based on ( ) of each segment and segment of the planned path, the movement of the robot following certain Dubins curve can be specified as well.…”

Section: Collision Predictionmentioning

confidence: 99%

“…To ensure the safety and the success in the docking process, a feasible path is required to be planned firstly [12]. This is because, for one thing, the area for docking may be unknown in advance or dynamically changing and there may be static and moving obstacles that threat the safety of the robots [12,13]. For another, the final configuration (pose and velocity) of the robot should be adjusted properly to avoid the impact with the docking station.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Reactive Path Planning Approach for Docking Robots in Unknown Environment

Cui

Yan

Wang

2017

Journal of Advanced Transportation

View full text Add to dashboard Cite

Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF) to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.

show abstract

“…( [1], [2], [3], [4], [5], [6], [7], [8]). The most common solution is a funnel shaped entrance and a latching system that holds and connects the vehicle, together with a straight line trajectory that guides the vehicle inside the docking station [9], [10]. An underactuated AUV that cannot control its sway motion when following a straight path needs to move with a crab angle to compensate for the effects of currents acting transverse to the path.…”

Section: Introductionmentioning

confidence: 99%

A hybrid approach to underwater docking of AUVs with cross-current

Sans-Muntadas

Pettersen

Brekke

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

View full text Add to dashboard Cite

Abstract-This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is unable to control its sway motion, to dock with no crab angle, in the presence of cross-currents. Docking without a crab angle can be beneficial in cases where the geometry of the docking station entrance does not allow entering with crab angles.In order to successfully dock under such restrictions, a path planner and two guidance laws are proposed. By properly switching between the two guidance laws, it is possible for the vehicle to slide cross-current into the docking station.

show abstract

A Robust Fuzzy Autonomous Underwater Vehicle (AUV) Docking Approach for Unknown Current Disturbances

Cited by 102 publications

References 13 publications

Fuzzy Docking Guidance Using Augmented Navigation System on an AUV

Fuzzy Docking Guidance Using Augmented Navigation System on an AUV

Reactive Path Planning Approach for Docking Robots in Unknown Environment

A hybrid approach to underwater docking of AUVs with cross-current

Contact Info

Product

Resources

About