Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Mission Management Technique for Multi-sensor-based AUV Docking

  • Kang, Hyungjoo (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Cho, Gun Rae (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Kim, Min-Gyu (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Lee, Mun-Jik (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Li, Ji-Hong (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Kim, Ho Sung (Naval System Team 2 / Naval R&D Center, Hanwha Systems) ;
  • Lee, Hansol (Naval System Team 2 / Naval R&D Center, Hanwha Systems) ;
  • Lee, Gwonsoo (Mechatronics Engineering, Chungnam National University)
  • Received : 2022.01.12
  • Accepted : 2022.03.31
  • Published : 2022.06.30
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Abstract

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.

Keywords

Acknowledgement

This research was supported by the project No. 17-CM-RB-16 titled "Development of Multi-sensor Fusion based AUV's Terminal Guidance and Docking Technology," funded by the Agency for Defense Development (ADD) in the Korea; in addition, it was partially supported by the project titled 'Development of unmanned remotely construction aided system for harbor infrastructure', funded by the Ministry of Oceans and Fisheries, Korea.

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