자율무인잠수정(AUV)의 호밍 도킹 알고리듬 개발

Abstract

Path generation algorithms for AUV s homing and docking are presented. Optimization technique with a proper cost function is given for the homing process, and prediction algorithm for 1st stage-docking process. Dock position and pose estimation algorithm using geometric and perspective relationship of circle in 3-dimention space and ellipse in projected 2-D plane is introduced for real time vision tracking algorithm of 2nd stage-docking process. Simulations using MATLAB program and experiments for dock position and pose estimation algorithm show that robust estimation algorithm can get practically exact pose and position of dock.