Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey
| Autor: | Narcis Palomeras, Pere Ridao, Patryk Cieslak, Joan Esteba |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Vehicles submergibles General Computer Science Computer science Monte Carlo method Robots autònoms 02 engineering and technology ocean currents 01 natural sciences Docking non-holonomic Submersibles 020901 industrial engineering & automation Docking (dog) Autonomous robots General Materials Science Electrical and Electronic Engineering Underwater AUV 0105 earth and related environmental sciences 010505 oceanography Holonomic General Engineering Collision TK1-9971 Metric (mathematics) Robot Electrical engineering. Electronics. Nuclear engineering Docking station Marine engineering |
| Zdroj: | IEEE Access, 2021, vol. 9, p.86607-86631 Articles publicats (D-ATC) DUGiDocs – Universitat de Girona instname IEEE Access IEEE Access, Vol 9, Pp 86607-86631 (2021) |
| Popis: | 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 This work was supported by the European Union’s Horizon 2020 Research and Innovation Program through the ATLANTIS ‘‘The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures’’ Project under Grant 871571 |
| Databáze: | OpenAIRE |
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