Autonomous underwater vehicle docking system for cabled ocean observatory network. (15th November 2015)

• Record Type: Journal Article
• Authors: Li, De-jun; Chen, Yan-hu; Shi, Jian-guang; Yang, Can-jun
• Is Part Of: Ocean engineering. Volume 109 (2015)
• Page Start: 127
• Page End: 134
• Publication Date: 2015-11-15
• Subjects: Autonomous underwater vehicle -- AUV docking -- Homing -- Navigation -- Control -- Vision guidance; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2015.08.029
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: A new funnel-type autonomous underwater vehicle (AUV) docking system that can be connected to a cabled ocean observatory network is developed to charge AUVs undersea. The main features of the system include non-penetrating power and data transfer without any auxiliary actuators, auto-orientation adjustment of the entrance, magnetic clamping of the AUV, and ultra-short baseline (USBL) and computer vision integrated navigation. A homing control method based on cross-track error for USBL navigation is proposed. Its design goal is to rapidly eliminate cross-track errors and change the behavior of the AUV smoothly without losing USBL signal in lateral current. The prototype system was tested in a water pool. Light tracking, docking, and clamping were successful. The battery of the AUV was effectively charged by the non-penetrating power transfer component at 144 W, during which the non-penetrating data transfer component worked properly. Highlights: We design an AUV docking system that can be connected to cabled ocean observatory network. Non-penetrating power and data transfer device and magnetic clamping device are applied. An ultra-short baseline and computer vision integrated navigation method is proposed. A cross-track error based composited control method is designed and verified. Successful light tracking, docking, communication, and battery charging have been achieved.