A Unified Approach for Underwater Homing and Docking of over-Actuated AUV
During the implementation of time-consuming tasks such as underwater observation or detection, AUV has to face a difficult and urgent problem that its working duration is greatly shortened by the limited energy stored in the battery device. To solve the power problem, a docking station is installed...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-08-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/9/8/884 |
| _version_ | 1797523374033862656 |
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| author | Mingjiu Zuo Guandao Wang Yongxin Xiao Gong Xiang |
| author_facet | Mingjiu Zuo Guandao Wang Yongxin Xiao Gong Xiang |
| author_sort | Mingjiu Zuo |
| collection | DOAJ |
| description | During the implementation of time-consuming tasks such as underwater observation or detection, AUV has to face a difficult and urgent problem that its working duration is greatly shortened by the limited energy stored in the battery device. To solve the power problem, a docking station is installed underwater for AUV charging its battery. However, to realize the automatic underwater charging of AUV via a docking station, the accurate and efficient completion of underwater homing and docking is required for AUV. Underwater automatic homing and docking system is of great significance to improve work efficiency and prolong the endurance of AUV save cost. In this paper, a unified approach that involves such as task planning, guidance and control design, thrust allocation has been proposed to provide a complete solution to the problem of homing and docking of an over-actuated AUV. The task-based hybrid target point/line planning and following strategy are proposed for AUV homing and docking. At the beginning of homing, AUV is planned to follow a straight line via the line of sight (LoS) method. Afterward, AUV starts to follow multiple predefined target points until reaching the docking station. At the final stage of docking (within 10 m), a dedicated computer vision algorithm is applied to detect a newly designed LED light array fixed on the docking station to provide accurate guidance for the AUV to dock. The sliding mode control technique is used for the motion control of the AUV allowing robustness. As the AUV configured with eight thrusters is over-actuated, the problem of the thrust allocation is very important and successfully solved using the quadratic programming (QP) optimization method. Finally, the simulations of homing and docking tasks using the AUV are accomplished to verify the proposed approach. |
| first_indexed | 2024-03-10T08:41:04Z |
| format | Article |
| id | doaj.art-7cd3d597960b492387f4b233e0f9ae0a |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T08:41:04Z |
| publishDate | 2021-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-7cd3d597960b492387f4b233e0f9ae0a2023-11-22T08:15:45ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-08-019888410.3390/jmse9080884A Unified Approach for Underwater Homing and Docking of over-Actuated AUVMingjiu Zuo0Guandao Wang1Yongxin Xiao2Gong Xiang3College of Electronic Engineering, Naval University of Engineering, Wuhan 430033, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaDuring the implementation of time-consuming tasks such as underwater observation or detection, AUV has to face a difficult and urgent problem that its working duration is greatly shortened by the limited energy stored in the battery device. To solve the power problem, a docking station is installed underwater for AUV charging its battery. However, to realize the automatic underwater charging of AUV via a docking station, the accurate and efficient completion of underwater homing and docking is required for AUV. Underwater automatic homing and docking system is of great significance to improve work efficiency and prolong the endurance of AUV save cost. In this paper, a unified approach that involves such as task planning, guidance and control design, thrust allocation has been proposed to provide a complete solution to the problem of homing and docking of an over-actuated AUV. The task-based hybrid target point/line planning and following strategy are proposed for AUV homing and docking. At the beginning of homing, AUV is planned to follow a straight line via the line of sight (LoS) method. Afterward, AUV starts to follow multiple predefined target points until reaching the docking station. At the final stage of docking (within 10 m), a dedicated computer vision algorithm is applied to detect a newly designed LED light array fixed on the docking station to provide accurate guidance for the AUV to dock. The sliding mode control technique is used for the motion control of the AUV allowing robustness. As the AUV configured with eight thrusters is over-actuated, the problem of the thrust allocation is very important and successfully solved using the quadratic programming (QP) optimization method. Finally, the simulations of homing and docking tasks using the AUV are accomplished to verify the proposed approach.https://www.mdpi.com/2077-1312/9/8/884AUVhoming and dockingvision-based guidancetarget point/line planning and followingthrust allocation |
| spellingShingle | Mingjiu Zuo Guandao Wang Yongxin Xiao Gong Xiang A Unified Approach for Underwater Homing and Docking of over-Actuated AUV Journal of Marine Science and Engineering AUV homing and docking vision-based guidance target point/line planning and following thrust allocation |
| title | A Unified Approach for Underwater Homing and Docking of over-Actuated AUV |
| title_full | A Unified Approach for Underwater Homing and Docking of over-Actuated AUV |
| title_fullStr | A Unified Approach for Underwater Homing and Docking of over-Actuated AUV |
| title_full_unstemmed | A Unified Approach for Underwater Homing and Docking of over-Actuated AUV |
| title_short | A Unified Approach for Underwater Homing and Docking of over-Actuated AUV |
| title_sort | unified approach for underwater homing and docking of over actuated auv |
| topic | AUV homing and docking vision-based guidance target point/line planning and following thrust allocation |
| url | https://www.mdpi.com/2077-1312/9/8/884 |
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