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Development of the Homing and Docking Algorithm for AUV

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dc.contributor.authorHong, Y.-H.-
dc.contributor.authorKim, J.-Y.-
dc.contributor.authorLee, P.-M.-
dc.contributor.authorJeon, B.-H.-
dc.contributor.authorOh, K.-H.-
dc.contributor.authorOh, J.-H.-
dc.date.accessioned2023-12-22T09:30:59Z-
dc.date.available2023-12-22T09:30:59Z-
dc.date.issued2003-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9146-
dc.description.abstractPath 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.extent8-
dc.language영어-
dc.language.isoENG-
dc.titleDevelopment of the Homing and Docking Algorithm for AUV-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-0942266638-
dc.identifier.bibliographicCitationProceedings of the International Offshore and Polar Engineering Conference, pp 752 - 759-
dc.citation.titleProceedings of the International Offshore and Polar Engineering Conference-
dc.citation.startPage752-
dc.citation.endPage759-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusAlgorithms-
dc.subject.keywordPlusBoundary conditions-
dc.subject.keywordPlusComputer simulation-
dc.subject.keywordPlusControl equipment-
dc.subject.keywordPlusDocking-
dc.subject.keywordPlusIterative methods-
dc.subject.keywordPlusLagrange multipliers-
dc.subject.keywordPlusMotion estimation-
dc.subject.keywordPlusMotion planning-
dc.subject.keywordPlusQuadratic programming-
dc.subject.keywordPlusReal time systems-
dc.subject.keywordPlusRobustness (control systems)-
dc.subject.keywordPlusSliding mode control-
dc.subject.keywordPlusTracking (position)-
dc.subject.keywordPlusUnderwater equipment-
dc.subject.keywordPlusVectors-
dc.subject.keywordPlusDocking algorithms-
dc.subject.keywordPlusHoming algorithms-
dc.subject.keywordPlusPath generation-
dc.subject.keywordPlusPrediction algorithms-
dc.subject.keywordPlusRemotely operated vehicles-
dc.subject.keywordAuthorAUV-
dc.subject.keywordAuthorOptimization-
dc.subject.keywordAuthorPath generation-
dc.subject.keywordAuthorPosition and pose estimation-
dc.subject.keywordAuthorPrediction algorithm-
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