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

doi:10.3390/s23010241

Cited by 3 publications

(11 citation statements)

References 24 publications

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“…Although the DS may self-orient according to the currents it measures, the absence of relevant currents in the harbour made us to adjust the DS heading manually (to maximise the maneuvering space) keeping it constant during the experiments. Therefore, the controller parameters were set as follows: ψ c = 0; as reported in (Esteba et al, 2023) the gains were set as k 1 = 0.4456 m/s, k 2 = 1 m −1 , and k ∆ = 6 m. Finally, the desired docking velocity was set as ẋss = 0.3 m/s, to avoid strong collisions between the AUV and the DS. The controller was executed at a frequency of 100 Hz, with a navigation frequency of navigation of 15 Hz and including USBL fixes approximately every 2 seconds.…”

Section: Methodsmentioning

confidence: 99%

“…Second, the new prototype of a DS is presented. Third, the docking strategy, already explained in (Esteba et al, 2023), is presented. Finally, the navigation system implemented in the AUV to meet the necessary docking requirements is described.…”

Section: State Of the Artmentioning

confidence: 99%

“…The MSC is a guidance controller for a nonholonomic AUV (Esteba et al, 2023) which drives the vehicle to the DS selecting the appropriate surge-velocity and heading set-points. It guides the robot along a line parallel to the main axis of the DS.…”

Section: Docking Controllermentioning

confidence: 99%

“…More details about the controller can be found in (Esteba et al, 2023), where its exponential stability is shown together with an exhaustive set of simulated results. The MSC was integrated into the vehicle's COLA2 (Palomeras et al, 2012) software architecture, acting as a guidance controller and issuing set-points to the velocity and heading vehicle controllers (see Fig.…”

Section: Docking Controllermentioning

confidence: 99%

See 3 more Smart Citations

Sparus Docking Station: A Current Aware Docking Station For a Non-holonomic AUV

Esteba

Cieśląk

Palomeras

et al. 2023

Preprint

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This paper presents the design and development of a funnel-shaped Sparus Docking Station (SDS) intended for the non-holonomic torpedo-shaped Sparus II Autonomous Underwater Vehicles (AUV). The SDS is equipped with sensors and batteries, allowing for a stand-alone long-term deployment of the AUV. An inverted Ultra Short BaseLine (USBL) system is used to locate the Docking Station (DS) as well as to provide long-term drift-less AUV navigation. The SDS is able to observe the ocean currents using a Doppler Velocity Log (DVL), 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 experimental results of the docking maneuver in sea trials.

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Section: Methodsmentioning

confidence: 99%

Section: State Of the Artmentioning

confidence: 99%

Section: Docking Controllermentioning

confidence: 99%

Section: Docking Controllermentioning

confidence: 99%

See 2 more Smart Citations

Sparus Docking Station: A Current Aware Docking Station For a Non-holonomic AUV

Esteba

Cieśląk

Palomeras

et al. 2023

Preprint

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show abstract

“…Second, the new prototype of a DS is presented. Third, the docking strategy, already explained in Esteba et al (2023), is presented.…”

Section: Authorsmentioning

confidence: 99%

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

Esteba,

Cieślak,

Palomeras

et al. 2024

Journal of Field Robotics

Self Cite

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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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Autonomous Underwater Vehicle Docking Under Realistic Assumptions Using Deep Reinforcement Learning

Palomeras,

Ridao

2024

Drones

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This paper addresses the challenge of docking an Autonomous Underwater Vehicle (AUV) under realistic conditions. Traditional model-based controllers are often constrained by the complexity and variability of the ocean environment. To overcome these limitations, we propose a Deep Reinforcement Learning (DRL) approach to manage the homing and docking maneuver. First, we define the proposed docking task in terms of its observations, actions, and reward function, aiming to bridge the gap between theoretical DRL research and docking algorithms tested on real vehicles. Additionally, we introduce a novel observation space that combines raw noisy observations with filtered data obtained using an Extended Kalman Filter (EKF). We demonstrate the effectiveness of this approach through simulations with various DRL algorithms, showing that the proposed observations can produce stable policies in fewer learning steps, outperforming not only traditional control methods but also policies obtained by the same DRL algorithms in noise-free environments.

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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

Cited by 3 publications

References 24 publications

Sparus Docking Station: A Current Aware Docking Station For a Non-holonomic AUV

Sparus Docking Station: A Current Aware Docking Station For a Non-holonomic AUV

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

Autonomous Underwater Vehicle Docking Under Realistic Assumptions Using Deep Reinforcement Learning

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