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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
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9146
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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