Rendezvous Planning for Multiple AUVs With Mobile Charging Stations in Dynamic Currents

Li, Bingxi; Page, Brian R.; Hoffman, John R.; Moridian, Barzin; Mahmoudian, Nina

doi:10.1109/lra.2019.2896899

Cited by 27 publications

(8 citation statements)

References 14 publications

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“…To model the error, we employ a normal distribution with a mean of 0 and a variance of σ 2 v as in Equation (8).…”

Section: Velocity Modelmentioning

confidence: 99%

“…Additionally, compared to conventional plug-in charging, DWC can reduce the required battery capacity of the EV for long-distance travel, therefore reducing the on-board battery costs of electric buses. Therefore, many applications of DWC exist across different fields, for instance public transit systems [7], logistics and delivery [6], autonomous vehicles [2], underwater autonomous vehicles [8], etc.…”

Section: Introductionmentioning

confidence: 99%

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Stochastic Optimization of an Electric Bus Dynamic Wireless Charging System

Zhu,

Fan,

Zhang

et al. 2024

WEVJ

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The Electric Bus Dynamic Wireless Charging (EB-DWC) system is a bus charging system that enables electric buses to receive power wirelessly from ground-based electromagnetic induction devices. In this system, how to optimally configure the charging infrastructures while considering the unpredictable nature of bus movement is a great challenge. This paper presents an optimization problem for an EB-DWC system in urban settings, addressing stochastic elements inherent in the vehicle speed, initial charging state, and dwell time at bus stops. We formulate a stochastic planning problem for the EB-DWC system by integrating these uncertainties and apply Monte Carlo sampling techniques to effectively solve this problem. The proposed method can improve the system’s robustness effectively.

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“…To model the error, we employ a normal distribution with a mean of 0 and a variance of σ 2 v as in Equation (8).…”

Section: Velocity Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stochastic Optimization of an Electric Bus Dynamic Wireless Charging System

Zhu,

Fan,

Zhang

et al. 2024

WEVJ

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show abstract

“…The proposed algorithm is capable of driving the vehicle during normal operation as well as during docking approach. When in normal operating mode, the set of waypoints is prescribed by a mission planner such as ( Li et al, 2019 ). When in docking mode, the set of waypoints is calculated based on projecting a straight line through the known docking location.…”

Section: Algorithm Designmentioning

confidence: 99%

Underwater Docking Approach and Homing to Enable Persistent Operation

et al. 2021

Self Cite

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One of the main limiting factors in deployment of marine robots is the issue of energy sustainability. This is particularly challenging for traditional propeller-driven autonomous underwater vehicles which operate using energy intensive thrusters. One emerging technology to enable persistent performance is the use of autonomous recharging and retasking through underwater docking stations. This paper presents an integrated navigational algorithm to facilitate reliable underwater docking of autonomous underwater vehicles. Specifically, the algorithm dynamically re-plans Dubins paths to create an efficient trajectory from the current vehicle position through approach into terminal homing. The path is followed using integral line of sight control until handoff to the terminal homing method. A light tracking algorithm drives the vehicle from the handoff location into the dock. In experimental testing using an Oceanserver Iver3 and Bluefin SandShark, the approach phase reached the target handoff within 2 m in 48 of 48 tests. The terminal homing phase was capable of handling up to 5 m offsets with approximately 70% accuracy (12 of 17 tests). In the event of failed docking, a Dubins path is generated to efficiently drive the vehicle to re-attempt docking. The vehicle should be able to successfully dock in the majority of foreseeable scenarios when re-attempts are considered. This method, when combined with recent work on docking station design, intelligent cooperative path planning, underwater communication, and underwater power transfer, will enable true persistent undersea operation in the extremely dynamic ocean environment.

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“…It can also separate units to realize distributed detection according to requirements for wide-range detection. In addition, the serialstructured underwater vehicle can achieve efficient navigation because each unit obtains different resistance reduction effects during the propulsion process [97]. The motion of the serial-structured underwater vehicle is generated by propellers distributed along both sides of each unit.…”

Section: B: Underwater Self-reconfigurable Robots With Passive Jointsmentioning

confidence: 99%

Development of Multibody Marine Robots: A Review

Kang

Zhang

et al. 2020

IEEE Access

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Multibody marine robots, representing a promising research and development area, have gained acute attention and response from civil and military fields. A multibody marine robot is a multibody system composed of multiple single-body marine robots (defined as a unit) in a certain topology. Such a system is generally characterized by underactuation, hyperredundancy, power distribution, modularization and so on. Compared with traditional single-body marine robots, multibody marine robots can carry greater loads and have more forms of motion, so they can meet more specialized functional requirements. At the same time, they also have more complex hydrodynamic characteristics due to their unique structures and motion forms. In this paper, the types, features, and hydrodynamic characteristics of typical multibody marine robots are reviewed and summarized based on the connection structures between units. In addition, the development trends of multibody marine robots are analyzed and discussed. This review work anticipates positive attention from future readers regarding multibody marine robots, which represent an important subarea of marine robots.

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Rendezvous Planning for Multiple AUVs With Mobile Charging Stations in Dynamic Currents

Cited by 27 publications

References 14 publications

Stochastic Optimization of an Electric Bus Dynamic Wireless Charging System

Stochastic Optimization of an Electric Bus Dynamic Wireless Charging System

Underwater Docking Approach and Homing to Enable Persistent Operation

Development of Multibody Marine Robots: A Review

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