Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey
This paper presents a comparative study of docking algorithms intended for non-holonomic autonomous underwater vehicles, docking in funnel-shaped docking stations, operating under the influence of ocean currents. While descriptive surveys have been already reported in the literature, our goal is to...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9440960/ |
| _version_ | 1818479906318712832 |
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| author | Joan Esteba Patryk Cieslak Narcis Palomeras Pere Ridao |
| author_facet | Joan Esteba Patryk Cieslak Narcis Palomeras Pere Ridao |
| author_sort | Joan Esteba |
| collection | DOAJ |
| description | This paper presents a comparative study of docking algorithms intended for non-holonomic autonomous underwater vehicles, docking in funnel-shaped docking stations, operating under the influence of ocean currents. While descriptive surveys have been already reported in the literature, our goal is to compare the most relevant algorithms through realistic Monte Carlo simulations to provide an insight into their performance. To this aim, a new numerical performance indicator is proposed, which, based on the geometry of the manoeuvre, is able to characterize a successful or unsuccessful docking, providing a metric for comparison. The experimental study is carried out using hardware-in-the-loop simulation by means of the Stonefish simulator, including the dynamic/hydrodynamic model of the Sparus II AUV, models of all internal and external sensors, and the collision geometry representing the docking station. |
| first_indexed | 2024-12-10T11:16:17Z |
| format | Article |
| id | doaj.art-a0631130cb9b4351a06d27b8589e25f2 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-10T11:16:17Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a0631130cb9b4351a06d27b8589e25f22022-12-22T01:51:10ZengIEEEIEEE Access2169-35362021-01-019866078663110.1109/ACCESS.2021.30838839440960Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative SurveyJoan Esteba0https://orcid.org/0000-0003-2991-3412Patryk Cieslak1https://orcid.org/0000-0002-8599-1012Narcis Palomeras2https://orcid.org/0000-0002-2266-9624Pere Ridao3https://orcid.org/0000-0002-1724-3012Computer Vision and Robotics Research Institute (VICOROB), University of Girona, Girona, SpainComputer Vision and Robotics Research Institute (VICOROB), University of Girona, Girona, SpainComputer Vision and Robotics Research Institute (VICOROB), University of Girona, Girona, SpainComputer Vision and Robotics Research Institute (VICOROB), University of Girona, Girona, SpainThis paper presents a comparative study of docking algorithms intended for non-holonomic autonomous underwater vehicles, docking in funnel-shaped docking stations, operating under the influence of ocean currents. While descriptive surveys have been already reported in the literature, our goal is to compare the most relevant algorithms through realistic Monte Carlo simulations to provide an insight into their performance. To this aim, a new numerical performance indicator is proposed, which, based on the geometry of the manoeuvre, is able to characterize a successful or unsuccessful docking, providing a metric for comparison. The experimental study is carried out using hardware-in-the-loop simulation by means of the Stonefish simulator, including the dynamic/hydrodynamic model of the Sparus II AUV, models of all internal and external sensors, and the collision geometry representing the docking station.https://ieeexplore.ieee.org/document/9440960/DockingAUVocean currentsnon-holonomic |
| spellingShingle | Joan Esteba Patryk Cieslak Narcis Palomeras Pere Ridao Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey IEEE Access Docking AUV ocean currents non-holonomic |
| title | Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey |
| title_full | Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey |
| title_fullStr | Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey |
| title_full_unstemmed | Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey |
| title_short | Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey |
| title_sort | docking of non holonomic auvs in presence of ocean currents a comparative survey |
| topic | Docking AUV ocean currents non-holonomic |
| url | https://ieeexplore.ieee.org/document/9440960/ |
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