Development of a modular docking sub-system for 12" class autonomous underwater vehicles

Coulson, Robert; Lambiotte, J.C.; Grenon, G.; Pantelakis, T.; Curran, Jerome P.; An, Aimin

doi:10.1109/oceans.2004.1406388

Cited by 11 publications

(6 citation statements)

References 5 publications

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“…Terminal guidance in that work uses visual fiducials on the dock. In an attempt to alleviate the directional constraints of conical dock systems, Coulson et al . describe rotating a docking cone and tube to align with ambient current.…”

Section: Prior Work In Vehicle Dockingmentioning

confidence: 99%

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The ARTEMIS under‐ice AUV docking system

Kimball¹,

Clark²,

Scully³

et al. 2017

Journal of Field Robotics

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The ARTEMIS docking system demonstrates autonomous docking capability applicable to robotic exploration of sub‐ice oceans and sub‐glacial lakes on planetary bodies, as well as here on Earth. In these applications, melted or drilled vertical access shafts restrict vehicle geometry as well as the in‐water infrastructure that may be deployed. The ability of the vehicle to return reliably and precisely to the access point is critical for data return, battery charging, and/or vehicle recovery. This paper presents the mechanical, sensor, and software components that make up the ARTEMIS docking system, as well as results from field deployment of the system to McMurdo Sound, Antarctica in the austral spring of 2015. The mechanical design of the system allows the vehicle to approach the dock from any direction and to pitch up after docking for recovery through a vertical access shaft. It uses only a small volume of in‐water equipment and may be deployed through a narrow vertical access shaft. The software of the system reduces position estimation error with a hierarchical combination of dead reckoning, acoustic aiding, and machine vision. The system provides critical operational robustness, enabling the vehicle to return autonomously and precisely to the access shaft and latch to the dock with no operator input.

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Section: Prior Work In Vehicle Dockingmentioning

confidence: 99%

“…They are often favored for their ability to make a rigid connection between the vehicle and dock so that connectors (e.g., power and data) may be mated automatically. Examples of this docking style include work by Allen et al 8 In an attempt to alleviate the directional constraints of conical dock systems, Coulson et al 14…”

Section: Introductionmentioning

confidence: 99%

The ARTEMIS under‐ice AUV docking system

Kimball¹,

Clark²,

Scully³

et al. 2017

Journal of Field Robotics

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“…The high accuracy path following mission is a typical behavior of UUVs, and it is an important method for UUVs to complete other tasks (such as topography examination and long distance navigation) [1]. Under the influences of some uncertain disturbance such as the ocean current, the UUV's movements are very complicated with six degrees of freedom (DOF).…”

Section: Introductionmentioning

confidence: 99%

Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

Gao

Zhang

et al. 2014

Journal of Applied Mathematics

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This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC) to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness.

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“…Originally developed by military in the 1980's for specific applications they became an essential tool for a large amount of industrial and scientific missions. Oceanographic sampling, bathymetry profiling, underwater system inspection, military mine counter-measures are only few examples of these applications [1]. AUVs are becoming a simple, long-range and low cost solution for maritime survey.…”

Section: Introductionmentioning

confidence: 99%

AUV docking system for existing underwater control panel

et al. 2009

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The development of the AUV (Autonomous Underwater Vehicle) the past years, has given a cost effective alternative solution in underwater research. These vehicles free from any tether can perform literally in any environments which make them the first choice in underwater exploration today. The main constrain is the life of their batteries. Docking stations and docking techniques are being developed nowadays to solve this problem. The AUV will have the capability to dock, recharge, download data and upload new mission and tasks to be executed and so to be truly permanently deployed on all weather conditions. The current trend in AUV research is the development of Intervention AUVs (I-AUVs) that would be able to replace the currently operating Remote Operated Vehicles (ROVs), offering a more economical solution in underwater intervention tasks.In this essay, based on the analysis of the existing docking methods', benefits and draw backs, we propose a new docking mechanism for I-AUVs. Finite element analysis is performed to validate the proposed panel.

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Development of a modular docking sub-system for 12" class autonomous underwater vehicles

Cited by 11 publications

References 5 publications

The ARTEMIS under‐ice AUV docking system

The ARTEMIS under‐ice AUV docking system

Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

AUV docking system for existing underwater control panel

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