Underwater docking stations (DS) are essential for subsea resident autonomous underwater vehicles (AUV). Com-monly, the DS is passive and the AUV is designed with sufficient maneuverability to achieve docking. In this work, we propose an alternative approach for an AUV with low maneuverability by equipping the DS with a robotic manipulator arm to actively catch the approaching vehicle. In particular, we present kinematic analysis tools tailored towards the docking task and a dockability metric to determine and evaluate suitable docking poses. By means of this analysis, an optimal approach path can be determined for the AUV to follow during the docking process. To demonstrate the feasibility of active docking, preliminary experiments were conducted in a control environment using a hardware-in-the-loop (HITL) simulator and a simple control architecture. The experimental results are further analyzed to investigate the limitations of the approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Active Manipulator-Aided Docking of Underactuated Autonomous Underwater Vehicles


    Contributors:

    Published in:

    Publication date :

    2024-09-23


    Size :

    5624302 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Cross-Track Formation Control of Underactuated Autonomous Underwater Vehicles

    Borhaug, E. / Pavlov, A. / Pettersen, K.Y. | Tema Archive | 2006


    Robust and adaptive path following for underactuated autonomous underwater vehicles

    Do, K. Duc / Pan, J. / Jiang, Z.P. | Tema Archive | 2004


    Path-following of Underactuated Underwater Vehicles

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009


    Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

    Heshmati Alamdari, Shahabodin / Nikou, Alexandros / Dimarogonas, Dimos V. | BASE | 2020

    Free access