Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station

被引：2

作者：

Esteba, Joan ^{[1
]}

Cieslak, Patryk ^{[1
]}

Palomeras, Narcis ^{[1
]}

Ridao, Pere ^{[1
]}

机构：

[1] Univ Girona, Comp Vis & Robot Res Inst VICOROB, Girona 17003, Spain

来源：

SENSORS | 2023年 / 23卷 / 01期

关键词：

docking; AUV; ocean currents; non-holonomic; SYSTEM;

D O I：

10.3390/s23010241

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

This paper presents a novel algorithm to dock a non-holonomic Autonomous Underwater Vehicle (AUV) into a funnel-shaped Docking Station (DS), in the presence of ocean currents. In a previous work, the authors have compared several docking algorithms through Monte Carlo simulations. In this paper, a new control algorithm is presented with a goal to improve over the previous ones to fulfil the specific needs of the ATLANTIS project. Performance of the new proposed algorithm has been compared with the results of the previous study, using the same environemnt on the Stonefish hardware-in-the-loop simulator.

引用

页数：23

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