Docking Method for Hovering-Type AUVs Based on Acoustic and Optical Landmarks

2018 ◽  
Vol 30 (1) ◽  
pp. 55-64 ◽  
Author(s):  
Toshihiro Maki ◽  
◽  
Yoshiki Sato ◽  
Takumi Matsuda ◽  
Kotohiro Masuda ◽  
...  
Keyword(s):  
Power Transmission ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Human Intervention ◽  
Contact Charging ◽  
Human Control ◽  
Docking Method ◽  
Position And Orientation

Autonomous underwater vehicles (AUVs) have the advantage of not requiring tether cables or human control; however, they have limited energy, and must be recovered before their batteries drain completely. To charge AUV batteries efficiently, in-situ charging systems have attracted much attention. This study proposes a method for hovering-type AUVs to dock at a seafloor station, for long-term deployment of the system with minimum human intervention. In the proposed method, an AUV docks at a seafloor station autonomously, based on both acoustic and optical landmarks attached to the station. The AUV stochastically estimates its position and orientation with regard to the station, and controls itself to land on the exact docking spot at the station. When docking is completed, the station begins electric power transmission via non-contact charging devices. The proposed method was evaluated on the AUV Tri-TON 2, and a seafloor station testbed. The vehicle succeeded in autonomous docking at the station in both the tank and sea trials. Non-contact charging during docking was also verified during the tank experiments, using the non-contact charging devices developed by our group.

A Novel Autonomous Docking Method of Unmanned Marine Vehicle Based on Manipulator

2013 ◽  
Vol 364 ◽  
pp. 370-374
Author(s):  
Jin Lei Chen ◽  
Yuan Dai ◽  
Zhong Qiang Zheng ◽  
Zong Yu Chang ◽  
Wen Dai ◽  
...  
Keyword(s):  
Data Exchange ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Kinematics Analysis ◽  
Marine Vehicles ◽  
Docking Method ◽  
Stability And Accuracy ◽  
Marine Vehicle ◽  
Limited Duration ◽  
Autonomous Docking

To extend underwater duration is an important issue for autonomous underwater vehicles. Limited duration restricts the working ability of an unmanned marine vehicle (UMV) and needs frequent surface support. One of the solutions to this problem is docking that can implement functions as recharging, data exchange, maintaining and so on. A novel docking method based on manipulator assistance is carried out. In this method, a fixed handle near docking port is caught by the manipulator on the vehicle firstly. The manipulator can be controlled to obtain the vehicles body a suitable position and orientation for autonomous docking. The manipulator with floating based can be looked on as one serial manipulator with a fixed anchor. The kinematics analysis is given by using the MATLAB and ADAMS. The simulation results suggest that docking method has more stability and accuracy, and it can also reduce the collision between docking port and the vehicle. The method provides a conception of docking process between all kinds of unman marine vehicles and docking ports.

AUV Sensors for Real-Time Detection, Localization, Characterization, and Monitoring of Underwater Munitions

2009 ◽  
Vol 43 (4) ◽  
pp. 76-84 ◽  
Author(s):  
Richard Camilli ◽  
Brian S. Bingham ◽  
Michael V. Jakuba ◽  
Anthony N. Duryea ◽  
Rand LeBouvier ◽  
...  
Keyword(s):  
Real Time ◽  
Situation Awareness ◽  
Chemical Sensors ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Chemical Plume Tracing ◽  
Plume Tracing ◽  
Chemical Plume ◽  
New Research

AbstractThis technical paper describes existing capabilities and new research results for autonomous underwater vehicles (AUVs) for use in locating, characterizing, and monitoring underwater munitions. The authors introduce advances in sensor technologies and search methods pertinent to AUV-based underwater munition mitigation operations. Results are presented from a series of trials using in situ chemical sensors to detect both conventional and nonconventional underwater munitions in real time. These technologies are considered within the context of chemical plume tracing and biomimetic search algorithms. This paper concludes with a look toward future AUV sensor payloads with more extensive real-time situation awareness. Advancement of these technologies and methods will be critical for realizing the potential of AUV platforms to manage the risks posed by underwater munitions sites.

NOAA’s National Undersea Research Program

2000 ◽  
Vol 34 (4) ◽  
pp. 61-68 ◽  
Author(s):  
Andrew N. Shepard
Keyword(s):  
Research Program ◽  
Environmental Changes ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Federal Program ◽  
Ocean Science ◽  
Oceanographic Research ◽  
And Performance ◽  
Scientific Diving

The National Oceanic and Atmospheric Ad/ministration (NOAA) works to understand ocean and Great Lakes’ environments and their resources, and develop the capability to predict environmental changes. This mission requires a comprehensive oceanographic research program, including the use of undersea technologies. The in situ undersea approach to ocean science allows acquisition of otherwise unobtainable observations, samples, and experimentation. NOAA’s National Undersea Research Program (NURP) places scientists underwater, directly through the use of submersibles, underwater laboratories, and wet diving, or indirectly using remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), and ocean observatories. Scientific diving is an integral part of NURP’s research efforts. The program seeks to safely maximize the capabilities of the nation’s scientific diving community through direct assistance from program experts, and development of new and improved technologies. NURP is also the only federal program with the legislative mandate to improve the safety and performance of divers.

Review of AUV Underwater Terrain Matching Navigation

2015 ◽  
Vol 68 (6) ◽  
pp. 1155-1172 ◽  
Author(s):  
Pengyun Chen ◽  
Ye Li ◽  
Yumin Su ◽  
Xiaolong Chen ◽  
Yanqing Jiang
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Research Area ◽  
Composition Theory ◽  
System Composition ◽  
Key Issues ◽  
Important Research Area ◽  
Underwater Navigation ◽  
Terrain Matching

Underwater terrain matching navigation technology is an important research area for the underwater navigation of Autonomous Underwater Vehicles (AUVs). Terrain matching navigation can realise long-term, subtle, all-weather, and high-precision underwater AUV navigation. In this paper, the research status of the application of AUV underwater terrain matching navigation is reviewed, the system composition, theory and terrain matching methods of underwater terrain matching navigation are summarised and the advantages of a multi-beam bathymetric system in underwater terrain matching navigation are discussed. The current research thoughts are summarised, the key issues are pointed out, and possible future development trends are discussed.

AUV Bathymetric Simultaneous Localisation and Mapping Using Graph Method

2019 ◽  
Vol 72 (06) ◽  
pp. 1602-1622
Author(s):  
Teng Ma ◽  
Ye Li ◽  
Yusen Gong ◽  
Rupeng Wang ◽  
Mingwei Sheng ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Data Association ◽  
Underwater Vehicles ◽  
Geological Surveys ◽  
Underwater Navigation ◽  
Graph Slam ◽  
Mapping Techniques ◽  
Terrain Matching ◽  
Global And Local

Although topographic mapping missions and geological surveys carried out by Autonomous Underwater Vehicles (AUVs) are becoming increasingly prevalent, the lack of precise navigation in these scenarios still limits their application. This paper deals with the problems of long-term underwater navigation for AUVs and provides new mapping techniques by developing a Bathymetric Simultaneous Localisation And Mapping (BSLAM) method based on graph SLAM technology. To considerably reduce the calculation cost, the trajectory of the AUV is divided into various submaps based on Differences of Normals (DoN). Loop closures between submaps are obtained by terrain matching; meanwhile, maximum likelihood terrain estimation is also introduced to build weak data association within the submap. Assisted by one weight voting method for loop closures, the global and local trajectory corrections work together to provide an accurate navigation solution for AUVs with weak data association and inaccurate loop closures. The viability, accuracy and real-time performance of the proposed algorithm are verified with data collected onboard, including an 8 km planned track recorded at a speed of 4 knots in Qingdao, China.

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