In this paper, we study the real-time path planning problem for AUV mobile docking. The proposed algorithm take the terminal heading and velocity into consideration while AUV docking into the underwater mobile platform using the relative velocity and position between AUV and the platform, the algorithm generates the desired speed and desired heading for the AUV. The simulation results and pool experimental results both show that the proposed algorithm can work well.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-time Path Planning for Autonomous Underwater Vehicle Mobile Docking


    Contributors:
    Zeng, Daheng (author) / Chen, Shumin (author) / Li, Zengni (author) / Ma, Xinqi (author) / Xu, Yuanxin (author)


    Publication date :

    2020-10-05


    Size :

    849446 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Mobile underwater docking system and autonomous underwater vehicle

    MAHMOUDIAN NINA / PAGE BRIAN | European Patent Office | 2022

    Free access

    Mobile Underwater Docking System and Autonomous Underwater Vehicle

    MAHMOUDIAN NINA / PAGE BRIAN | European Patent Office | 2020

    Free access

    Autonomous Underwater Vehicle Docking

    Bellingham, James G. | Springer Verlag | 2016


    Real-time path planning and obstacle avoidance for RAIS: an autonomous underwater vehicle

    Antonelli, G. / Chiaverini, S. / Finotello, R. et al. | Tema Archive | 2001


    UNDERWATER DOCKING SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLE

    SAKAUE HIROSHI / MUKAIDA MINEHIKO / OKAYA NORIYUKI et al. | European Patent Office | 2018

    Free access