Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey

Esteba, Joan; Cieśląk, Patryk; Palomeras, Narcís; Ridao, Pere

doi:10.1109/access.2021.3083883

Cited by 13 publications

(17 citation statements)

References 41 publications

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“…Inspired by the analysis done in [14], the present method improves the results obtained with the previously studied methods because it can deal with ocean currents, the velocity of which are larger than the velocity of the docking of the AUV.…”

Section: Conceptsmentioning

confidence: 88%

“…In order to do a consistent comparison, the same experimental setup, as presented in [ 14 ], was used.…”

Section: Methodsmentioning

confidence: 99%

“…Specifically for this research, the simulator was extended to support acoustic communication and positioning devices. More details can be found in the previous work [ 14 ].…”

Section: Methodsmentioning

confidence: 99%

“…Both scenarios differ in the energy lost during the collision, Scenario III being the one with the highest losses. Following the analysis of energy lost during the collision (reported in [ 14 ]), the AUV should try to perform Scenario I if possible, targeting Scenario II alternatively, and using Scenario III as the last resort. It is worth noting that Scenario I is not easy to perform with Sparus II AUV, in presence of ocean currents, due to its non-holonomic nature.…”

Section: Proposal: Managed Surge Controllermentioning

confidence: 99%

“…In a previous publication [ 14 ], several algorithms were studied to cope with the autonomous docking, using a non-holonomic AUV, in the presence of ocean currents: the Pursuit Guidance with current compensation controller presented by [ 4 , 15 ], the Cross-track controller used in [ 3 , 16 ], the Fuzzy controller used in [ 17 , 18 ], the Touchdown alignment controller described in [ 19 ], the Sideslip controller based on [ 20 ], and the Sliding path controller described in [ 21 ]. None of the studied solutions offers satisfactory behavior when dealing with ocean current velocities higher than the docking velocity.…”

Section: Introductionmentioning

confidence: 99%

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Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station

Esteba

Cieśląk

Palomeras

et al. 2022

Sensors

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This paper presents a novel algorithm to dock a non-holonomic Autonomous Underwater Vehicle (AUV) into a funnel-shaped Docking Station (DS), in the presence of ocean currents. In a previous work, the authors have compared several docking algorithms through Monte Carlo simulations. In this paper, a new control algorithm is presented with a goal to improve over the previous ones to fulfil the specific needs of the ATLANTIS project. Performance of the new proposed algorithm has been compared with the results of the previous study, using the same environemnt on the Stonefish hardware-in-the-loop simulator.

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Section: Conceptsmentioning

confidence: 88%

“…In order to do a consistent comparison, the same experimental setup, as presented in [ 14 ], was used.…”

Section: Methodsmentioning

confidence: 99%

“…Specifically for this research, the simulator was extended to support acoustic communication and positioning devices. More details can be found in the previous work [ 14 ].…”

Section: Methodsmentioning

confidence: 99%

Section: Proposal: Managed Surge Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station

Esteba

Cieśląk

Palomeras

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

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Sparus Docking Station: A current aware docking station system for a non‐holonomic AUV

Esteba,

Cieślak,

Palomeras

et al. 2024

Journal of Field Robotics

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This paper presents the design and development of a funnel‐shaped Sparus Docking Station intended for the non‐holonomic torpedo‐shaped Sparus II Autonomous Underwater Vehicle. The Sparus Docking Station is equipped with sensors and batteries, allowing for a stand‐alone long‐term deployment of the vehicle. An inverted Ultra Short Base‐Line system is used to locate the Docking Station as well as to provide long‐term drift‐less vehicle navigation. The Sparus Docking Station is able to observe the ocean currents using a Doppler Velocity Log, being motorized to allow its self‐alignment with the current. Moreover, a docking algorithm accounting for the current is used to guide the robot during the docking maneuver. The paper reports consecutive successful experimental results of the docking maneuver in sea trials in two different countries.

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Dynamic Docking Anti‐Disturbance Control of Overactuated AUV: System, Method, and Lake Trails

Duan,

Guan,

Liu

et al. 2024

Journal of Field Robotics

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Dynamic docking control technology is crucial for autonomous underwater vehicles (AUV) to perform tasks underwater. To enhance the docking success rate of AUVs during dynamic docking, this paper presents a robust anti‐disturbance control algorithm specifically designed for overactuated AUV dynamic docking scenarios. During a dynamic docking mission, the AUV's depth control is adversely affected by the complex flow field generated by the underwater recovery device. To address this issue, this research proposes an AUV control scheme that combines an extended state observer (ESO) with a combined disturbance rejection method of the elevator‐vertical tunnel controller. First, an ESO is constructed to estimate and compensate for complicated disturbances such as model uncertainty and environmental disturbances. These estimations are then incorporated into the control law to mitigate the effects of the complicated flow field interference experienced during the AUV's dynamic docking process. Second, as turbulence intensifies at the end of the docking stage, the vertical thrust allocation is achieved using a hyperbolic tangent transition function. This ensures the stability of the AUV's attitude and depth, thereby enabling precise docking. Finally, the effectiveness of the proposed control algorithm is verified through lake trials and compared against the classic proportional‐integral‐differential (PID) and active disturbance rejection control (ADRC) methods. The trial results indicate that the proposed control algorithm significantly reduces the pitch and depth errors of the AUV, resulting in a remarkable 91% success rate for dynamic docking (based on 45 tests). The lake trials demonstrate that the proposed control algorithm is highly precise and robust.

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Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey

Cited by 13 publications

References 41 publications

Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station

Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station

Sparus Docking Station: A current aware docking station system for a non‐holonomic AUV

Dynamic Docking Anti‐Disturbance Control of Overactuated AUV: System, Method, and Lake Trails

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