AUV docking on a moving submarine using a K-R navigation function

Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

“…Push {L } into H (14) else (15) Push {L } into H (16) if ‖L‖ < ‖L ‖ then (17) L ← L (18) end if (19) end if (20) if H ̸ = 0 ∧ {H = 0 ∨ TB(G(0, )) > } then (21) break (22) end if (23) end while (24) else (25) follow L (26) end if (27) end while Algorithm 1: The smooth path planning approach.…”

“…Several efforts have been made by researchers to address the path planning problem for robots docking already [13,15,[20][21][22][23][24][25][26][27]. Among them, one of the most popular approaches is the artificial potential field (APF) method.…”

“…Through modeling the environment with designed potential fields, the minimum field vector is used to navigate the robot to dock in environment with known stationary obstacles. In [23], the collision-free path for AUV docking to a submarine is obtained via the APF approach while considering the kinematic constraints of the vehicle. Local minima problem is also considered in this 2 Complexity paper and addressed with particularly designed potential functions and parameters.…”

Optimized Waterspace Management and Scheduling Using Mixed-Integer Linear Programming

“…Within manned systems, there are numerous examples of the USV/UUV concept such as aircraft carriers and their respective aircraft, garbage trucks and accompanying garbage workers, or mail delivery and their respective postmen. While this form of close interaction between unmanned systems is still far from common, the underlying hardware and guidance infrastructure to allow autonomous docking and deployment between unmanned systems is actively researched [4,5,6,7,8]. We present a high-level planner that takes the lower-level vehicle tasks required to complete a typical MCM survey mission and sequences them in a near-optimal manner to minimize MCM objective functions such as mission time while accomplishing MCM mission objectives.…”

A solution to the service agent transport problem

“…Within manned systems, there are numerous examples of the transport agent/service agent concept such as aircraft carriers and their respective aircraft, garbage trucks and accompanying garbage workers, or mail delivery and their respective postmen. While this form of close interaction between unmanned systems is still far from common, the underlying hardware and guidance infrastructure to allow autonomous docking and deployment between unmanned systems is actively researched [4]- [8].…”