Design and test of a robust docking system for hovering AUVs

Wirtz, M.; Hildebrandt, Marc; Gaudig, Christopher

doi:10.1109/oceans.2012.6404975

Cited by 32 publications

(19 citation statements)

References 8 publications

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“…Underwater vehicle autonomy is presently implemented through permanent docking at cabled observatories (Wirtz et al, 2012;Hildebrandt et al, 2017). Such docking capabilities, similar to stationary ROVs presently used by the deep-sea oil industry, will allow AUVs to perform depthrated water column ascents or descents from beneath ice shell locations (e.g., ARTEMIS docking; Kimball et al, 2018).…”

Section: Deep-sea Autonomous Underwater Vehicles (Auvs)mentioning

confidence: 99%

Exo-Ocean Exploration with Deep-Sea Sensor and Platform Technologies

et al. 2020

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Section: Deep-sea Autonomous Underwater Vehicles (Auvs)mentioning

confidence: 99%

Exo-Ocean Exploration with Deep-Sea Sensor and Platform Technologies

et al. 2020

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“…This complementary navigation scheme has been the preferred choice for most recent docking systems for hovering AUVs [11]- [14]. In [12], it is assumed that the AUV is capable of performing smooth and very controlled movements. The docking procedure is accomplished by roughly approaching the dock via acoustic guidance and switching to visual mode to complete the maneuver using two sets of visual markers.…”

Section: Related Workmentioning

confidence: 99%

A lightweight docking station for a hovering AUV

Cruz

Matos

Almeida

et al. 2017

2017 IEEE Underwater Technology (UT)

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The concept of underwater docking stations has long been proposed to support the long term deployment of AUVs, but the number of successful solutions is still very disappointing. Hovering type AUVs can navigate arbitrarily slow, simplifying the docking maneuver and the requirements for the receiving structure. This paper describes a docking system that was developed to extend the mission duration of the MARES AUV, a man portable hovering type AUV. Given the wide range of operational scenarios and configurations of this AUV, one of the design requirements was to have a simple modular structure, that could easily be reconfigured to support different vehicle configurations, deployment scenarios and docking maneuvers. The paper provides details of the mechanical aspects, the onboard electronic subsystems, and the general operational procedure, as well as preliminary data from the first trials.

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“…Akin to their contemporary counterparts on land and in the air, a hovering type AUV is typically equipped with a camera system, which potentially could enable vision based autonomous navigation. Wirtz, Hilderbrandt, and Gaudig presented a docking system for hovering type AUV with both charging capability and two way data communication capability [6]. The power transfer between the AUV and the dock was achieved using underwater-pluggable connectors; the data was transmitted using off-the-shelf WiFi routers.…”

Section: Underwater Docking and Chargingmentioning

confidence: 99%

Underwater applications of light emitting diodes

Fan

Ishibashi

2015

2015 IEEE Underwater Technology (UT)

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This paper describes a conceptual system to assist an autonomous underwater vehicle (AUV) land on an underwater docking station, and transfer energy to the vehicle to enable underwater battery charging. The system consists of light emitting diodes (LEDs) mounted on the docking station, and optical sensors and photovoltaic (PV) cells on board the vehicle. The combination of sensors on board the AUV and the docking station LEDs will allow the vehicle to estimate the relative position of the intended docking location. Once the vehicle has landed on the docking station, the combination of the LEDs and the PV cells allows the battery on board the vehicle to be charged without any physical contact.

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Design and test of a robust docking system for hovering AUVs

Cited by 32 publications

References 8 publications

Exo-Ocean Exploration with Deep-Sea Sensor and Platform Technologies

Exo-Ocean Exploration with Deep-Sea Sensor and Platform Technologies

A lightweight docking station for a hovering AUV

Underwater applications of light emitting diodes

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