Resident autonomous underwater vehicle: Underwater system for prolonged and continuous monitoring based at a seafloor station

Matsuda, Takumi; Maki, Toshihiro; Masuda, Kotohiro; Sakamaki, Takashi

doi:10.1016/j.robot.2019.07.001

Cited by 28 publications

(18 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A holonomic AUV can control all its degrees of freedom, which makes it easier to complete the docking maneuver even in the presence of ocean currents. Examples of docking of holonomic robots include systems based only on acoustics [15], or approaches that combine acoustics with vision [16,17]. In [18] a system where the AUV reaches another vehicle using vision is presented, while [19] presents a system where an AUV docks on a submarine, with a mechanical system guided by acoustic, electromagnetic, and optical sensors.…”

Section: State Of the Artmentioning

confidence: 99%

Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey

et al. 2021

View full text Add to dashboard Cite

This paper presents a comparative study of docking algorithms intended for non-holonomic autonomous underwater vehicles, docking in funnel-shaped docking stations, operating under the influence of ocean currents. While descriptive surveys have been already reported in the literature, our goal is to compare the most relevant algorithms through realistic Monte Carlo simulations to provide an insight into their performance. To this aim, a new numerical performance indicator is proposed, which, based on the geometry of the manoeuvre, is able to characterize a successful or unsuccessful docking, providing a metric for comparison. The experimental study is carried out using hardware-in-the-loop simulation by means of the Stonefish simulator, including the dynamic/hydrodynamic model of the Sparus II AUV, models of all internal and external sensors, and the collision geometry representing the docking station.

show abstract

Section: State Of the Artmentioning

confidence: 99%

Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Limiting factors in docking station deployments, in addition to high costs, are the lack of flexibility to support different types of AUVs and the challenge of developing robust control for the AUV docking maneuver. Existing docking stations are installed on the seafloor ( Hobson et al, 2007 ; Bellingham, 2016 ; Matsuda et al, 2019 ) or hauled by significantly larger marine assets, such as the Proteus ( Pyle et al, 2012 ). An additional option is to mount the dock onto a surface platform to aid launch and recovery ( Pearson et al, 2014 ; Meng et al, 2018 ; Meng et al, 2019 ).…”

Section: Introductionmentioning

confidence: 99%

“…A combined pursuit-proportional navigation algorithm ( Yang et al, 2016 ), hybrid sliding approach ( Sans-Muntadas et al, 2016 ), fuzzy control ( Teo et al, 2012 ), and cross-track based control ( McEwen et al, 2008 ) have proved their effectiveness at docking in currents. More recent docking work has been completed across a range of problems including high-rate localization ( Cheng et al, 2020 ), terminal homing ( Zhang et al, 2019 ), physical docking ( Matsuda et al, 2019 ; Yan et al, 2019 ), and simulation ( Meng et al, 2019 ; Wu et al, 2019 ).…”

Section: Introductionmentioning

confidence: 99%

Underwater Docking Approach and Homing to Enable Persistent Operation

et al. 2021

View full text Add to dashboard Cite

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.

show abstract

“…FlatFish [14] is used to perform an on-demand close visual inspection on sub-sea structures within an oil and gas field. The work in [15] discusses the monitoring of underwater infrastructure using a resident AUV Tri-TON 2. Saipem has developed a resident AUV named Hydrone-R 1 capable of carrying out light construction works and advanced inspections on sub-sea assets.…”

Section: Introductionmentioning

confidence: 99%

A Unifying Task Priority Approach for Autonomous Underwater Vehicles Integrating Homing and Docking Maneuvers

Thomas

Simetti

Casalino

2021

JMSE

View full text Add to dashboard Cite

This research proposes a unified guidance and control framework for Autonomous Underwater Vehicles (AUVs) based on the task priority control approach, incorporating various behaviors such as path following, terrain following, obstacle avoidance, as well as homing and docking to stationary and moving stations. The integration of homing and docking maneuvers into the task priority framework is thus a novel contribution of this paper. This integration allows, for example, to execute homing maneuvers close to uneven seafloor or obstacles, ensuring the safety of the AUV, as safety tasks can be given the highest priority. Furthermore, another contribution shown in the paper is that the proposed approach tackles a wide range of scenarios without ad hoc solutions. Indeed, the proposed approach is well suited for both the emerging trend of resident AUVs, which stay underwater for a long period inside garage stations, exiting to perform inspection and maintenance missions and homing back to them, and for AUVs that are required to dock to moving stations such as surface vehicles, or towed docking stations. The proposed techniques are studied in a simulation setting, taking into account the rich number of aforementioned scenarios.

show abstract

Resident autonomous underwater vehicle: Underwater system for prolonged and continuous monitoring based at a seafloor station

Cited by 28 publications

References 19 publications

Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey

Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey

Underwater Docking Approach and Homing to Enable Persistent Operation

A Unifying Task Priority Approach for Autonomous Underwater Vehicles Integrating Homing and Docking Maneuvers

Contact Info

Product

Resources

About