Development of the Homing and Docking Algorithm for AUV
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Hong, Y.-H. | - |
dc.contributor.author | Kim, J.-Y. | - |
dc.contributor.author | Lee, P.-M. | - |
dc.contributor.author | Jeon, B.-H. | - |
dc.contributor.author | Oh, K.-H. | - |
dc.contributor.author | Oh, J.-H. | - |
dc.date.accessioned | 2023-12-22T09:30:59Z | - |
dc.date.available | 2023-12-22T09:30:59Z | - |
dc.date.issued | 2003 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9146 | - |
dc.description.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. | - |
dc.format.extent | 8 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.title | Development of the Homing and Docking Algorithm for AUV | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-0942266638 | - |
dc.identifier.bibliographicCitation | Proceedings of the International Offshore and Polar Engineering Conference, pp 752 - 759 | - |
dc.citation.title | Proceedings of the International Offshore and Polar Engineering Conference | - |
dc.citation.startPage | 752 | - |
dc.citation.endPage | 759 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Algorithms | - |
dc.subject.keywordPlus | Boundary conditions | - |
dc.subject.keywordPlus | Computer simulation | - |
dc.subject.keywordPlus | Control equipment | - |
dc.subject.keywordPlus | Docking | - |
dc.subject.keywordPlus | Iterative methods | - |
dc.subject.keywordPlus | Lagrange multipliers | - |
dc.subject.keywordPlus | Motion estimation | - |
dc.subject.keywordPlus | Motion planning | - |
dc.subject.keywordPlus | Quadratic programming | - |
dc.subject.keywordPlus | Real time systems | - |
dc.subject.keywordPlus | Robustness (control systems) | - |
dc.subject.keywordPlus | Sliding mode control | - |
dc.subject.keywordPlus | Tracking (position) | - |
dc.subject.keywordPlus | Underwater equipment | - |
dc.subject.keywordPlus | Vectors | - |
dc.subject.keywordPlus | Docking algorithms | - |
dc.subject.keywordPlus | Homing algorithms | - |
dc.subject.keywordPlus | Path generation | - |
dc.subject.keywordPlus | Prediction algorithms | - |
dc.subject.keywordPlus | Remotely operated vehicles | - |
dc.subject.keywordAuthor | AUV | - |
dc.subject.keywordAuthor | Optimization | - |
dc.subject.keywordAuthor | Path generation | - |
dc.subject.keywordAuthor | Position and pose estimation | - |
dc.subject.keywordAuthor | Prediction algorithm | - |
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