Mission Management Technique for Multi-sensor-based AUV Docking

Abstract

This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies.

Estimation of Underwater Workable Time Considering Tidal Currents: A Review of Diving Equipment

“…In addition, managers with specialist maritime knowledge that can perform these tasks must be trained. Such marine environment prediction information (Kim and Lee, 2022;Park et al, 2021) can be applied to the planning and operation of Remotely Operated Vehicles (ROVs), Unmanned Underwater Vehicles (UUVs), and Autonomous Underwater Vehicles (AUVs), which do not require divers (Jang, Do, and Kim, 2022;Kang et al, 2022;Kim et al, 2021;Kim et al, 2020;Lee et al, 2022).…”

An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics

“…Figure 2 illustrates the AUV platform utilized in this research, which was developed by Hanwha Systems [32]. The AUV serves as a testbed for underwater docking tasks [33]. The linear velocities of the vehicle are measured using a Doppler velocity log (DVL), and the angular velocities are measured using an inertial measurement unit (IMU).…”

“…The vehicle was developed by Hanwha Systems[32]. The AUV serves as a testbed for underwater docking tasks[33].…”