Mission Management Technique for Multi-sensor-based AUV Docking
This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event lev...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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The Korean Society of Ocean Engineers
2022-06-01
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| Series: | 한국해양공학회지 |
| Subjects: | |
| Online Access: | https://doi.org/10.26748/KSOE.2022.001 |
| _version_ | 1811227810658779136 |
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| author | Hyungjoo Kang Gun Rae Cho Min-Gyu Kim Mun-Jik Lee Ji-Hong Li Ho Sung Kim Hansol Lee Gwonsoo Lee |
| author_facet | Hyungjoo Kang Gun Rae Cho Min-Gyu Kim Mun-Jik Lee Ji-Hong Li Ho Sung Kim Hansol Lee Gwonsoo Lee |
| author_sort | Hyungjoo Kang |
| collection | DOAJ |
| description | This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies. |
| first_indexed | 2024-04-12T09:48:09Z |
| format | Article |
| id | doaj.art-db6b637381e14bc8b9ce8b39657a30b6 |
| institution | Directory Open Access Journal |
| issn | 1225-0767 2287-6715 |
| language | English |
| last_indexed | 2024-04-12T09:48:09Z |
| publishDate | 2022-06-01 |
| publisher | The Korean Society of Ocean Engineers |
| record_format | Article |
| series | 한국해양공학회지 |
| spelling | doaj.art-db6b637381e14bc8b9ce8b39657a30b62022-12-22T03:37:54ZengThe Korean Society of Ocean Engineers한국해양공학회지1225-07672287-67152022-06-0136318119310.26748/KSOE.2022.001Mission Management Technique for Multi-sensor-based AUV DockingHyungjoo Kang0https://orcid.org/0000-0001-8838-3285Gun Rae Cho1https://orcid.org/0000-0002-8536-4844Min-Gyu Kim2https://orcid.org/0000-0001-8517-6352Mun-Jik Lee3https://orcid.org/0000-0001-7806-3237Ji-Hong Li4https://orcid.org/0000-0002-5162-2737Ho Sung Kim5https://orcid.org/0000-0002-5706-3163Hansol Lee6https://orcid.org/0000-0002-5706-3163Gwonsoo Lee7https://orcid.org/0000-0002-0507-7758Korea Institute of Robotics & Technology ConvergenceKorea Institute of Robotics & Technology ConvergenceKorea Institute of Robotics & Technology ConvergenceKorea Institute of Robotics & Technology ConvergenceKorea Institute of Robotics & Technology ConvergenceHanwha SystemsHanwha SystemsChungnam National UniversityThis study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies.https://doi.org/10.26748/KSOE.2022.001autonomous underwater vehicle (auv)mission managementmulti-sensor-based dockingfeasible initial area (fia)terminal guidancedocking station (ds) |
| spellingShingle | Hyungjoo Kang Gun Rae Cho Min-Gyu Kim Mun-Jik Lee Ji-Hong Li Ho Sung Kim Hansol Lee Gwonsoo Lee Mission Management Technique for Multi-sensor-based AUV Docking 한국해양공학회지 autonomous underwater vehicle (auv) mission management multi-sensor-based docking feasible initial area (fia) terminal guidance docking station (ds) |
| title | Mission Management Technique for Multi-sensor-based AUV Docking |
| title_full | Mission Management Technique for Multi-sensor-based AUV Docking |
| title_fullStr | Mission Management Technique for Multi-sensor-based AUV Docking |
| title_full_unstemmed | Mission Management Technique for Multi-sensor-based AUV Docking |
| title_short | Mission Management Technique for Multi-sensor-based AUV Docking |
| title_sort | mission management technique for multi sensor based auv docking |
| topic | autonomous underwater vehicle (auv) mission management multi-sensor-based docking feasible initial area (fia) terminal guidance docking station (ds) |
| url | https://doi.org/10.26748/KSOE.2022.001 |
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