AUV homing and docking for remote operations
AUV homing and docking for remote operations
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DOI：
10.1016/j.oceaneng.2018.01.114
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发表时间：
2018-04-15
影响因子：
5
通讯作者：
Ridao, P.
中科院分区：
文献类型：
--
作者：
Palomeras, N.;Vallicrosa, G.;Ridao, P.
日出FP 7项目的主要目标之一是实现水下物联网。在这种情况下，LOON-DOCK项目扩展了现有的文学的海洋观测网络试验平台，为Spares II AUV量身定制了一个对接站。对接系统允许远程用户通过基于网络的界面对类似于勘测的任务进行编程，以及在使命完成后检索AUV收集的数据。为了使自主对接的AUV，两个互补的和具有成本效益的定位系统已经开发。第一个实现了一个范围内的定位算法，以接近对接站，而第二个，基于主动光信标，在短距离内提供高精度，以完成对接动作。该系统已经过广泛的测试，在不同的试验中，从受控的水箱环境到更现实的海上操作条件，证明了其在非常差的水能见度条件下的可行性。
One of the major goals of the SUNRISE FP7 project is to make the Underwater Internet of Things a reality. In this context, the LOON-DOCK project presented here extends the existing Litoral Ocean Observatory Network testbed with a Docking Station tailored to the Spares II AUV. The docking system allows a remote user to program survey-like missions through a web-based interface as well as to retrieve the data gathered by the AUV once a mission finalizes. To enable the autonomous docking of the AUV, two complementary and cost-effective localization systems have been developed. The first one implements a range-only localization algorithm to approach the docking station while the second, based on active light beacons, provides high accuracy at short ranges to complete the docking maneuver. The system has been extensively tested, in different trials from a controlled water tank environment to more realistic sea operation conditions proving its viability despite very poor water visibility conditions.