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Development of the Homing and Docking Algorithm for AUV
- Authors
- Hong, Y.-H.; Kim, J.-Y.; Lee, P.-M.; Jeon, B.-H.; Oh, K.-H.; Oh, J.-H.
- Issue Date
- 2003
- Keywords
- AUV; Optimization; Path generation; Position and pose estimation; Prediction algorithm
- Citation
- Proceedings of the International Offshore and Polar Engineering Conference, pp 752 - 759
- Pages
- 8
- Journal Title
- Proceedings of the International Offshore and Polar Engineering Conference
- Start Page
- 752
- End Page
- 759
- ISSN
- 0000-0000
- 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.
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