Sparus Docking Station: A current aware docking station system for a non‐holonomic AUV-Reference-Cited by-同舟云学术

Sparus Docking Station: A current aware docking station system for a non‐holonomic AUV

Published:2024-04-24 Issue:6 Volume:41 Page:1765-1779
ISSN:1556-4959
Container-title:Journal of Field Robotics
language:en
Short-container-title:Journal of Field Robotics

Author:

Esteba Joan¹^ORCID,Cieślak Patryk¹,Palomeras Narcís¹,Ridao Pere¹

Affiliation:

1. Computer Vision and Robotics Research Institute (VICOROB) University of Girona Girona Spain

Abstract

AbstractThis paper presents the design and development of a funnel‐shaped Sparus Docking Station intended for the non‐holonomic torpedo‐shaped Sparus II Autonomous Underwater Vehicle. The Sparus Docking Station is equipped with sensors and batteries, allowing for a stand‐alone long‐term deployment of the vehicle. An inverted Ultra Short Base‐Line system is used to locate the Docking Station as well as to provide long‐term drift‐less vehicle navigation. The Sparus Docking Station is able to observe the ocean currents using a Doppler Velocity Log, being motorized to allow its self‐alignment with the current. Moreover, a docking algorithm accounting for the current is used to guide the robot during the docking maneuver. The paper reports consecutive successful experimental results of the docking maneuver in sea trials in two different countries.

Funder

Horizon 2020 Framework Programme

Publisher

Wiley

Link

https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.22310

Reference38 articles.

1. Autonomous Underwater Vehicle Docking

2. Bluelogic. (n.d.)Bluelogic subsea docking station. Available at:https://www.bluelogic.no/news-and-media/subsea-docking-station-sds-[Accessed 31st January 2023].

3. Blueprint Design Engineering Ltd. (n.d.a)Blueprint subsea Oculus imaging sonar. Available at:https://www.blueprintsubsea.com/oculus/oculus-m-series[Accessed 21st September 2022].

4. Blueprint Design Engineering Ltd. (n.d.b)Blueprint subsea SeaTrac X150 USBL beacon. Available at:https://www.blueprintsubsea.com/seatrac/[Accessed 21st September 2022].